From cd761b085ddff0d4f55a0d5b892b3120cf8fa9d2 Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期二, 13 一月 2026 13:18:04 +0800
Subject: [PATCH] 修改了AGV请求接口的逻辑，Mas获取返回信息的订单编号
---
src/main/java/com/zy/asrs/controller/SiteController.java | 4
src/main/java/com/zy/asrs/controller/OpenController.java | 8 +
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 11 +
src/main/resources/mapper/WaitPakinMapper.xml | 2
src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java | 349 ++++++++++++++++++++++++++++++++++++++-----------
src/main/resources/mapper/WrkMastMapper.xml | 2
src/main/webapp/views/pipeline.html | 3
src/main/java/com/zy/core/MainProcess.java | 8
src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java | 1
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 4
src/main/resources/application.yml | 10
11 files changed, 307 insertions(+), 95 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 3dca0fe..bf9d52b 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -118,5 +118,13 @@
e.printStackTrace();
}
}
+ @GetMapping("/api/robot/reporter/task1")
+ public void reporterTask1(){
+ Integer sourceStaNo = 307;
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
+// log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
+ }
}
diff --git a/src/main/java/com/zy/asrs/controller/SiteController.java b/src/main/java/com/zy/asrs/controller/SiteController.java
index 86c538d..98e94bc 100644
--- a/src/main/java/com/zy/asrs/controller/SiteController.java
+++ b/src/main/java/com/zy/asrs/controller/SiteController.java
@@ -7,7 +7,7 @@
import com.zy.asrs.domain.vo.SiteTableVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
-import com.zy.core.Slave;
+import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -16,7 +16,6 @@
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.DevpThread;
import com.zy.core.thread.SiemensDevpThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -82,6 +81,7 @@
vo.setStaNo(staProtocol.getStaNo()); // 鐩爣绔�
// vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "浣�" : "楂�"); //楂樹綆搴撲綅
vo.setLocType1(devp.getDevNo()==102 ? "楂�" : "浣�");
+ vo.setInreq1(devp.getInreq1());
}
return R.ok().add(list);
}
diff --git a/src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java b/src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java
index 42b7bc9..c805edb 100644
--- a/src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java
+++ b/src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java
@@ -28,6 +28,7 @@
// 闇�姹�1
private String pakMk = "-";
+ private String inreq1 = "-";
// 绌烘澘淇″彿
private String emptyMk = "-";
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 9d4d6d4..c3e5bc2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -172,6 +172,7 @@
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
&& staProtocol.getWorkNo() > 9990
+ && staProtocol.getWorkNo() <9998
&& (staProtocol.isEmptyOutType() || staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304)
&& staProtocol.isPakMk()) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
@@ -242,7 +243,10 @@
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
-
+ WaitPakin waitPakin = waitPakinMapper.selectByBarcode(barcode);
+ if (waitPakin == null){
+ continue;
+ }
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
//杩囨护鍒ゆ柇锛岄槻姝㈡嫞鏂欏啀鍏ュ簱璐х墿锛岀粡杩囧叆搴撶珯鍐嶅叆搴撴椂锛岃閫�鍥炲埌閫�搴撶珯
@@ -1287,7 +1291,7 @@
if (staProtocol.isEmptyOutType() || staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304) {
boo1 = true;
}
- if ((staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304) && staProtocol.isOutEnable()) {
+ if (((staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304) && staProtocol.isOutEnable()) || staProtocol.getSiteId()==307) {
boo2 = true;
}
@@ -1297,7 +1301,7 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
//鍒ゆ柇鏄惁鏈夋鍦ㄦ墽琛屼腑鐨凙GV浠诲姟
- List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", staProtocol.getSiteId()));
+ List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", String.valueOf(staProtocol.getSiteId())));
if (agvTasks != null && agvTasks.size() > 0) {
continue;
}
@@ -2427,6 +2431,7 @@
int workNo = commonService.getWorkNo(0);
// 淇濆瓨宸ヤ綔妗�
WrkMast wrkMast = new WrkMast();
+ wrkMast.setId(new Date().getTime());
wrkMast.setWrkNo(workNo);
wrkMast.setIoTime(new Date());
wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
diff --git a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
index 8b333b8..8d9f914 100644
--- a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
@@ -68,24 +68,24 @@
String slotCategory = values.getString("slotCategory");
String slotCode = values.getString("slotCode");
EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
- wrapper.eq("task_no", robotTaskCode);
+ wrapper.eq("task_no", rcsReporterTask.getRobotTaskCode().substring(0, rcsReporterTask.getRobotTaskCode().length() - 2));
AgvTask task = agvTaskService.selectOne(wrapper);
if (!Cools.isEmpty(task)) {
try {
switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
//鏀捐揣鐢宠
case APPLY_PUT: {
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
Integer sourceStaNo = Integer.valueOf(task.getStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
//wcs鍙嶉rcs缁х画鎵ц
if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
- if(task.getTaskType().equals("AGV琛ョ┖鏂欐灦")){
+ if (task.getTaskType().equals("AGV琛ョ┖鏂欐灦")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
String url = HIK_URL + "api/robot/controller/task/extend/continue";
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
@@ -98,7 +98,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
//鍑哄彂PLC绔欑偣鐨勬壂鐮佸櫒鎵爜
boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
if (result) {
@@ -110,9 +110,9 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
String url = HIK_URL + "api/robot/controller/task/extend/continue";
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
@@ -129,12 +129,23 @@
}
}
}
- }else {
+ } else {
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
transParent.setStationId(task.getStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
int i = applyInStation(transParent);
if (i == 1) {
rcsReturn.setCode("SUCCESS");
@@ -142,7 +153,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -157,13 +168,13 @@
//鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑
case TASK_END: {
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
Integer sourceStaNo = Integer.valueOf(task.getStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
Boolean boo = false;
Short wrkNo = 9991;
- if(task.getStaNo().equals("307")){
+ if (task.getStaNo().equals("307")) {
wrkNo = 9997;
}
@@ -172,7 +183,7 @@
if (task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
boo = true;
wrkNo = 9998;
- } else if (!task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
+ } else if (!task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType()) {
boo = true;
}
if (boo) {
@@ -207,23 +218,49 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
}
- }else {
- // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
- task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
- task.setModiTime(new Date());
- agvTaskService.updateById(task);
- // 杩斿洖RCS
- rcsReturn.setCode("SUCCESS");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
+ } else {
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
+ //鏀捐揣绂诲紑绔欑偣
+ int i = AGVDepartureCompleted(transParent);
+ if (i == 1) {
+ // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
+ task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
+ task.setModiTime(new Date());
+ agvTaskService.updateById(task);
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
}
}
break;
//rcs璇锋眰wms鍙栬揣鐢宠
case APPLY_PICK: {
- if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ if (task.getSourceStaNo().equals("401") || task.getSourceStaNo().equals("402") || task.getSourceStaNo().equals("307")) {
Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
@@ -239,7 +276,7 @@
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
if (!StringUtils.isEmpty(response) && response.contains("code")) {
RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
- if ("200".equals(rcsReturn1.getCode())) {
+ if ("SUCCESS".equals(rcsReturn1.getCode())) {
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -256,43 +293,25 @@
}
}
}
- }else {
+ } else {
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
transParent.setStationId(task.getStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
int i = applyInStation(transParent);
if (i == 1) {
- rcsReturn.setCode("SUCCESS");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
- }else {
- // 杩斿洖RCS
- rcsReturn.setCode("Err_Internal");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
- }
- }
- }
- break;
- //rcs鍙栬揣瀹屾垚锛屽凡閫�鍑鸿緭閫佺嚎
- case PICK_COMPLETE: {
- Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
- SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
- //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
- if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
- staProtocol.setWorkNo((short) 0);
- staProtocol.setStaNo((short) 0);
- boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
- log.info("AGV鍙栬揣瀹屾垚锛岀粰绔欑偣鍐�0宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
- if (result) {
- // 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
JSONObject data = new JSONObject();
@@ -306,14 +325,83 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
}
+ }
+ }
+ break;
+ //rcs鍙栬揣瀹屾垚锛屽凡閫�鍑鸿緭閫佺嚎
+ case PICK_COMPLETE: {
+ if (task.getSourceStaNo().equals("401") || task.getSourceStaNo().equals("402") || task.getSourceStaNo().equals("307")) {
+ Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
+ if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
+ staProtocol.setWorkNo((short) 0);
+ staProtocol.setStaNo((short) 0);
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
+ log.info("AGV鍙栬揣瀹屾垚锛岀粰绔欑偣鍐�0宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
+ if (result) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ } else {
+
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
+ //鍙栬揣绂诲紑绔欑偣
+ int i = AGVDepartureCompleted(transParent);
+ if (i == 1) {
+ // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
+ task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
+ task.setModiTime(new Date());
+ agvTaskService.updateById(task);
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
}
}
break;
//AGV鍙栬揣绂荤珯璇锋眰
- case APPLY_IN_OFF_STATION:{
+ case APPLY_IN_OFF_STATION: {
//濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
- if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ if (task.getSourceStaNo().equals("401") || task.getSourceStaNo().equals("402") || task.getSourceStaNo().equals("307")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
@@ -323,7 +411,7 @@
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
if (!StringUtils.isEmpty(response) && response.contains("code")) {
RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
- if ("200".equals(rcsReturn1.getCode())) {
+ if ("SUCCESS".equals(rcsReturn1.getCode())) {
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -339,13 +427,24 @@
rcsReturn.setData(data);
}
}
- }else{
+ } else {
//濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
transParent.setStationId(task.getStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
int i = applyOutStation(transParent);
if (i == 1) {
rcsReturn.setCode("SUCCESS");
@@ -353,7 +452,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -362,12 +461,12 @@
rcsReturn.setData(data);
}
}
- break;
+ break;
}
//AGV鏀捐揣绂荤珯璇锋眰
- case APPLY_OFF_STATION:{
+ case APPLY_OFF_STATION: {
//濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
- if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
rcsTaskContinue.setTriggerType("TASK");
@@ -377,7 +476,7 @@
String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
if (!StringUtils.isEmpty(response) && response.contains("code")) {
RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
- if ("200".equals(rcsReturn1.getCode())) {
+ if ("SUCCESS".equals(rcsReturn1.getCode())) {
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -393,13 +492,24 @@
rcsReturn.setData(data);
}
}
- }else{
+ } else {
//濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
TransParent transParent = new TransParent();
- transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
- transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
transParent.setStationId(task.getStaNo());
transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
int i = applyOutStation(transParent);
if (i == 1) {
rcsReturn.setCode("SUCCESS");
@@ -407,7 +517,7 @@
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -417,6 +527,50 @@
}
}
+ break;
+ }
+ //鍒扮珯瀹屾垚
+ case ARRIVE_ON_STATION: {
+ if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setTaskname(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ //08-1鏄┖鎵樼洏杞簭浠诲姟
+ //08-2鏄墿鏂欒浆搴忎换鍔�
+ if (task.getTaskType().equals("ZX-AGV-08-1")) {
+ transParent.setTransType("08-1");
+ } else if (task.getTaskType().equals("ZX-AGV-08-2")) {
+ transParent.setTransType("08-2");
+ } else if (task.getTaskType().equals("PP-AGV")) {
+ transParent.setTransType("10");
+ } else if (task.getTaskType().equals("ZP-AGV")) {
+ transParent.setTransType("11");
+ }
+ int i = AGVArrivalCompletedFit(transParent);
+ if (i == 1) {
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
break;
}
@@ -463,8 +617,8 @@
conn.setRequestProperty("X-lr-request-id", String.valueOf(new Date().getTime()));
conn.setRequestProperty("X-lr-version", "4.3");
- conn.setConnectTimeout(5000);
- conn.setReadTimeout(5000);
+ conn.setConnectTimeout(10000);
+ conn.setReadTimeout(10000);
conn.setDoOutput(true);
conn.setDoInput(true);
out = new PrintWriter(conn.getOutputStream());
@@ -538,4 +692,45 @@
return 0;
}
+
+ /**
+ * 绂荤珯瀹屾垚锛歸ms->mes
+ * AGV绂诲紑鎺ラ┏浣嶅悗鍙戦�佺寮�鐘舵�佺粰MES
+ *
+ * @param apply
+ * @return
+ */
+ public int AGVDepartureCompleted(TransParent apply) {
+
+ String url = MES_URL + "AGVDepartureCompleted";
+ String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
+ if (!StringUtils.isEmpty(response) && response.contains("Success")) {
+ MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
+ if ("1".equals(mesReturn.getSuccess())) {
+ return 1;
+ }
+ }
+
+ return 0;
+ }
+
+ /**
+ * 鍒扮珯瀹屾垚锛欰GV鍒拌揪宸ヤ綅閲岄潰--銆媘es鍒颁綅瀹屾垚
+ *
+ * @param apply
+ * @return
+ */
+ public int AGVArrivalCompletedFit(TransParent apply) {
+
+ String url = MES_URL + "AGVArrivalCompletedFit";
+ String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
+ if (!StringUtils.isEmpty(response) && response.contains("Success")) {
+ MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
+ if ("1".equals(mesReturn.getSuccess())) {
+ return 1;
+ }
+ }
+
+ return 0;
+ }
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 85e105c..438766f 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -50,16 +50,16 @@
// mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
Thread.sleep(500);
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- mainService.stnToCrnStnPick(3);
+ //mainService.stnToCrnStnPick(3);
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱-鏉＄爜
-// mainService.stnToCrnStnPickBarcode(33);
- // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
+ mainService.stnToCrnStnPickBarcode(33);
+ // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯0
mainService.crnStnToOutStn(4);
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
mainService.crnIoExecute(5);
// 鍏ュ嚭搴撳寮� ===>> 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
// mainService.crnIoWrkMast();
- // 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
+ // 鍏ュ嚭搴� ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
mainService.storeFinished(6);
// 鍫嗗灈鏈哄紓甯镐俊鎭褰�
mainService.recCrnErr(7);
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 1c6ae47..3f28a03 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -257,7 +257,7 @@
Thread.sleep(200);
if(slave.getId()==1) {
- OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.602.0", (short) (barcodeSize * 8));
+ OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.600.0", (short) (barcodeSize * 8));
if (result2.IsSuccess) {
for (int i = 0; i < barcodeSize; i++) {
String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
@@ -355,7 +355,7 @@
if(staProtocol.getSiteId() == 307){
index = 0;
}
- OperateResult writeResult1 = siemensS7Net.Write("DB100.500" + index, 1); // 鎵爜鍣ㄨЕ鍙�
+ OperateResult writeResult1 = siemensS7Net.Write("DB100.500" , true); // 鎵爜鍣ㄨЕ鍙�
if (!writeResult1.IsSuccess) {
OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戝啓鍏ヨ緭閫佺嚎绔欑偣鏁版嵁澶辫触銆傝緭閫佺嚎plc缂栧彿={1}锛岀珯鐐规暟鎹�={2}", slave.getId(), JSON.toJSON(staProtocol)));
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 2950ece..dcb0e91 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -39,7 +39,7 @@
#mes瀵规帴
mes:
- url: http://192.9.100.173:8088/prod-api/basicmodel/WmsFit/Api/
+ url: http://172.26.160.5:80/dev-api/basicmodel/WmsFit/Api/
#榛樿鎺ュ彛鎿嶄綔浜哄憳id
defaultUserId: 30
@@ -87,8 +87,8 @@
crnInStn[1]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 307
- row: 1
- bay: 16
+ row: 3
+ bay: 5
lev: 1
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[2]:
@@ -108,8 +108,8 @@
crnOutStn[1]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 307
- row: 1
- bay: 16
+ row: 3
+ bay: 5
lev: 1
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[2]:
diff --git a/src/main/resources/mapper/WaitPakinMapper.xml b/src/main/resources/mapper/WaitPakinMapper.xml
index cde4b5f..65e875b 100644
--- a/src/main/resources/mapper/WaitPakinMapper.xml
+++ b/src/main/resources/mapper/WaitPakinMapper.xml
@@ -28,7 +28,7 @@
</resultMap>
<select id="selectByBarcode" resultMap="BaseResultMap">
- select * from cust_wait_pakin where zpallet = #{barcode}
+ select top 1 * from cust_wait_pakin where zpallet = #{barcode}
</select>
</mapper>
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 2744ade..4d6135b 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -105,7 +105,7 @@
</select>
<select id="selectPickStep" resultMap="BaseResultMap">
- select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=20 and (io_type=103 or io_type=107 or io_type=104)
+ select top 1 * from asr_wrk_mast where barcode=#{barcode} and (wrk_sts=20 or wrk_sts = 14) and (io_type=103 or io_type=107 or io_type=104)
</select>
<select id="selectPakOutStep1" resultMap="BaseResultMap">
diff --git a/src/main/webapp/views/pipeline.html b/src/main/webapp/views/pipeline.html
index c182d24..ecaa217 100644
--- a/src/main/webapp/views/pipeline.html
+++ b/src/main/webapp/views/pipeline.html
@@ -116,6 +116,7 @@
<th>绌烘澘淇″彿</th>
<th>鐩爣绔�</th>
<th>楂樹綆搴撲綅</th>
+ <th>鎺ф枡鏋�</th>
</tr>
</thead>
<!-- 琛ㄦ牸鍐呭 -->
@@ -310,6 +311,7 @@
setVal(tr.children("td").eq(7), table[i-1].emptyMk);
setVal(tr.children("td").eq(8), table[i-1].staNo);
setVal(tr.children("td").eq(9), table[i-1].locType1);
+ setVal(tr.children("td").eq(10), table[i-1].inreq1);
}
} else if (res.code === 403){
window.location.href = baseUrl+"/login";
@@ -396,6 +398,7 @@
" <td></td>\n" +
" <td></td>\n" +
" <td></td>\n" +
+ " <td></td>\n" +
" </tr>\n";
}
$('#site-table tbody').after(html);
--
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