From d62951d7c0947303fc6eed23a664c162f2ea0010 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期五, 05 十二月 2025 09:07:32 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 182 +++++++++++++++++++++++++++++++++++++++-----
1 files changed, 159 insertions(+), 23 deletions(-)
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 29fd386..6cdc58d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -450,23 +450,74 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
-// News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
- continue;
- }
- } else {
- continue;
- }
-
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
if (staProtocol == null) {
continue;
} else {
staProtocol = staProtocol.clone();
}
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontErr()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ log.error("鐗╂枡鐮佹壂鐮佸け璐�");
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", pickSta.getStaNo(), errMsg);
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
+
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+ if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
+ }
+ staProtocol.setWorkNo(wrkNo);
+ staProtocol.setErrCode(errMsg);
+ News.info("寮傚父鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ staProtocol.setBarcode(barcode);
+ staProtocol.setPakMk(false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ System.out.println(staProtocol);
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+pickSta.getBackSta());
+ }
+
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
@@ -506,7 +557,7 @@
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//LED
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = "姝や负鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱.璇锋斁鍦�"+pickSta.getBackSta().shortValue()+"绔欑偣";
@@ -2299,6 +2350,9 @@
case 57:
ledCommand.setTitle("鐩樼偣鍐嶅叆搴�");
break;
+ case 53:
+ ledCommand.setTitle("鎷ｆ枡鍐嶅叆搴�");
+ break;
case 101:
ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
break;
@@ -2879,7 +2933,7 @@
StaProtocol staProtocol = null;
if(emptyCount >= 2 && site == 1108){
continue;
- }else if(emptyCount == 1 && site == 2031){
+ }else if(emptyCount > 1 && site == 2031){
continue;
}
//濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
@@ -4989,6 +5043,55 @@
continue;
}
if (staProtocol.isAutoing() ) {
+ if(staProtocol.getWorkNo()>10000){
+ BasAgvMast basAgvMast = new BasAgvMast();
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
+ if(!basAgvMastList.isEmpty()){
+ continue;
+ }
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(staProtocol.getWorkNo().toString());
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ basAgvMast.setFloorNo(1);
+ basAgvMast.setTaskNo(staProtocol.getWorkNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setBarcode("1");
+ basAgvMast.setSourceLocNo("1041");
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+ basAgvMastService.insert(basAgvMast);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
+ locMast.setLocSts("S");
+ locMastService.updateById(locMast);
+
+ AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+ agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
+ agvBindCtnrAndBinParam.setCtnrTyp("1");
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV鍑哄簱瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
+
+ }
+ }catch (Exception e){
+ News.error(JSON.toJSONString(e.getMessage()));
+
+ }
+
+ }
WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
continue;
@@ -5040,8 +5143,10 @@
basAgvMast.setIoType(2);
basAgvMastService.insert(basAgvMast);
-
-
+ AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+ agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getBarcode());
+ agvBindCtnrAndBinParam.setCtnrTyp("1");
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
wrkMast.setTakeNone("2");
wrkMastMapper.updateById(wrkMast);
@@ -5067,6 +5172,8 @@
// 鑾峰彇鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 6);
+
if (staProtocol == null) {
continue;
} else {
@@ -5078,7 +5185,7 @@
continue;
}
- String barcode = staProtocol.getBarcode();
+ String barcode = barcodeThread.getBarcode();//2033
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
// News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
@@ -5091,7 +5198,7 @@
if (staProtocol.isAutoing()) {
// 鍒ゆ柇閲嶅宸ヤ綔妗�
- List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()).eq("barcode",barcode));
if (!basAgvMastList.isEmpty()) {
// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
continue;
@@ -5099,9 +5206,17 @@
if(barcode.equals("0")){
continue;
}
+ List<LocMast> locMastListFull = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_sts", "O")
+ .ge("row1", 28)
+ .le("row1", 31)
+ );
+ if(locMastListFull.isEmpty()){
+ continue;
+ }
List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
if (!locMastList.isEmpty()) {
- News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
+// News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
continue;
}
// 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
@@ -5126,7 +5241,29 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- basAgvMast.setTaskNo(outStaAgv.getStaNo());
+ List<BasAgvMast> list = basAgvMastService.selectList(
+ new EntityWrapper<BasAgvMast>()
+ .eq("source_sta_no", outStaAgv.getStaNo())
+ .in("task_no", 2033, 2031)
+ );
+ boolean has2033 = false;
+ boolean has2034 = false;
+ for (BasAgvMast mast : list) {
+ if (mast.getTaskNo() == 2033) {
+ has2033 = true;
+ }
+ if (mast.getTaskNo() == 2031) {
+ has2034 = true;
+ }
+ }
+
+ if (has2033 && has2034) {
+ return;
+ } else if (has2033) {
+ basAgvMast.setTaskNo(2031);
+ } else {
+ basAgvMast.setTaskNo(2033);
+ }
basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
basAgvMast.setLocNo(dto.getLocNo());
basAgvMast.setDevpId(devp.getId());
@@ -5139,8 +5276,10 @@
News.error(JSON.toJSONString(staProtocol));
}
} catch (Exception e) {
- News.error(JSON.toJSONString(e.getMessage()));
+ News.error("AGV浠诲姟鐢熸垚寮傚父", e);
+ throw new CoolException("AGV浠诲姟鐢熸垚寮傚父");
}
+
}
}
}
@@ -5367,10 +5506,7 @@
staProtocol = staProtocol.clone();
}
- if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
- ||
- (basAgvMast.getSourceStaNo().equals(2033))){
-
+ if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) || basAgvMast.getSourceStaNo().equals(2033)){
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
if(basAgvMast.getFloorNo()==1) {
// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
--
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