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 | 455 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 362 insertions(+), 93 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 3e22f86..6cdc58d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -83,6 +83,8 @@
@Autowired
private BasDevpService basDevpService;
@Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
private LocDetlService locDetlService;
@Autowired
private BasErrLogService basErrLogService;
@@ -146,7 +148,6 @@
if(!staProtocol.isLoading()){
continue;
}
-
if (barcodeThread == null) {
continue;
}
@@ -221,30 +222,29 @@
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()
&& staProtocol.getWorkNo() == 0
+ && !barcode.equals("0")
+ && !Cools.isEmpty(barcode)
) {
- if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-// News.error(JSON.toJSONString(staProtocol));
- News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- staProtocol.setWorkNo(wrkNo);
- staProtocol.setErrCode(errMsg);
- News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
- wrkNo++;
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- staProtocol.setBarcode(barcode);
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
- continue;
- }
- if(barcode.equals("0")){
- continue;
- }
+// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+//// News.error(JSON.toJSONString(staProtocol));
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// }
+// staProtocol.setWorkNo(wrkNo);
+// staProtocol.setErrCode(errMsg);
+// News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// staProtocol.setBarcode(barcode);
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
+// continue;
+// }
// if (staProtocol.getSiteId()!= 159){
// if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcodeMat(), barcodeMat);
@@ -326,15 +326,6 @@
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
- if(staProtocol.getSiteId() == 1036){ //1036
- BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(barcode);
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()!=200){
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
- }
ledThread.errorReset();
log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
@@ -459,23 +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; }
@@ -515,7 +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";
@@ -934,16 +976,23 @@
*/
public synchronized void connectWrk(Integer mark) {
for (DevpSlave devp : slaveProperties.getDevp()) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocolIn = devpThread.getStation().get(4001);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+
+ StaProtocol staProtocolIn = devpThread2.getStation().get(4001);
if (staProtocolIn == null) {
continue;
} else {
staProtocolIn = staProtocolIn.clone();
}
- int[] outStaNos = {1015, 2016}; //琛旀帴鍏ュ簱鐐�
+ int[] outStaNos = {1015,2016}; //琛旀帴鍏ュ簱鐐�
for (int outStaNo : outStaNos) {
- StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 鐩樼偣鍑哄簱琛旀帴绔欑偣锛堝彲鑳芥槸 1015锛屼篃鍙兘鏄� 2016锛�
+ StaProtocol staProtocolOut =null;
+ if(outStaNo == 2016){
+ staProtocolOut = devpThread2.getStation().get(outStaNo);
+ }else{
+ staProtocolOut = devpThread.getStation().get(outStaNo);
+ }
if (staProtocolOut == null) {
continue;
} else {
@@ -2301,6 +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;
@@ -2872,6 +2924,8 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+
List<Integer> list = new ArrayList<>();
list.add(1108);list.add(2031);
for (Integer site:list){
@@ -2879,13 +2933,13 @@
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�
switch (site){
case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
- case 2031:staProtocol = devpThread.getStation().get(site);break;
+ case 2031:staProtocol = devpThread2.getStation().get(site);break;
}
if (staProtocol == null) {
return;
@@ -3753,7 +3807,7 @@
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
@@ -3850,7 +3904,7 @@
continue;
}
- if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
if (staProtocolSta == null) {
News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
@@ -3902,7 +3956,7 @@
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
@@ -4409,6 +4463,111 @@
/*
* arm浠诲姟瀹屾垚鑷姩缁勬墭
* */
+ public synchronized void armMissionAccomplished1() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmStaTwo()) {
+
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ String barcode = staProtocol.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode) || barcode.length()<5) {
+ armTaskAssignmentCallApiLogSave(staProtocol, "鎵樼洏鏉＄爜涓虹┖", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛�===銆嬫墭鐩樻潯鐮佷负绌�", false);
+ continue;
+ }
+ } else {
+ armTaskAssignmentCallApiLogSave(staProtocol, "鎵樼洏鏉＄爜涓虹┖", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛�===銆嬫墭鐩樻潯鐮佷负绌�", false);
+ continue;
+ }
+ String[] barcodeList = barcode.split(";");
+ String[][] barcodeArr = new String[barcodeList.length / 2][2];
+ int i = 0;
+ for (String[] barcodes : barcodeArr){
+ barcodes[0]=barcodeList[i];
+ i++;
+ barcodes[1]=barcodeList[i];
+ i++;
+ }
+ ArmBarcodeTwoParam armBarcodeTwoParam = new ArmBarcodeTwoParam(barcodeArr);
+ if (!armBarcodeTwoParam.allBool()){
+ continue;
+ }
+
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .lt("status", 2)
+ );
+ if (!basArmMastList.isEmpty()){
+ armTaskAssignmentCallApiLogSave(staProtocol, armSta.getArmNo()+"鍙锋満姊拌噦瀛樺湪鏈畬鎴愪换鍔�", staProtocol.getSiteId()+"鏈烘鑷傦紝===銆嬪瓨鍦ㄦ湭瀹屾垚浠诲姟", false);
+ continue;
+ }
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("arm_no",armSta.getArmNo()));
+ boolean sign = true;
+ for (BasArm basArm : basArmList){
+ if (basArm.getStaNo()==2){//NG
+ continue;
+ }
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
+ if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
+ continue;
+ }
+ List<BasArmMast> basArmMastList2 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sta_no", basArm.getStaNoSou())
+ .eq("status", 2)
+ );
+ if (!basArmMastList2.isEmpty()){
+ BasArmMast basArmMast2 = basArmMastList2.get(0);
+ if (!armBarcodeTwoParam.allBool(basArmMast2)){
+ continue;
+ }
+ }
+ BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
+ basArmMast.setArmNo(basArm.getArmNo());
+ basArmMast.setStaNo(basArm.getStaNoSou());
+ basArmMast.setSortingLine(basArm.getSortingLineSou());
+ basArmMastService.insert(basArmMast);
+ sign = false;
+ break;
+ }
+ if (sign){
+ for (BasArm basArm : basArmList){
+ if (basArm.getStaNo()==2){//NG
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
+ if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
+ continue;
+ }
+ BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
+ basArmMast.setArmNo(basArm.getArmNo());
+ basArmMast.setStaNo(basArm.getStaNoSou());
+ basArmMast.setSortingLine(basArm.getSortingLineSou());
+ basArmMastService.insert(basArmMast);
+ break;
+ }
+ }
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愮粍鎵樺け璐�"+e.getMessage());
+ }
+ }
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
public synchronized void armMissionAccomplished2() {
try{
List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
@@ -4425,6 +4584,7 @@
new EntityWrapper<BasArmMast>()
.eq("arm_no", basArm.getArmNo())
.eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sta_no", basArm.getStaNoSou())
.eq("status", 3)
);
if (basArmMastList.isEmpty()){
@@ -4617,16 +4777,21 @@
}
}
- OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
-
- if (Cools.isEmpty(orderDetlValueResultUtil)){
- continue;
- }
+// OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
+// if (Cools.isEmpty(orderDetlValueResultUtil)){
+// continue;
+// }
+ OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
+ Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
+ orderDetlValueResultUtil.setHeight(mat.getHeight());
+ orderDetlValueResultUtil.setWeight(mat.getWeight());
+ orderDetlValueResultUtil.setLength(mat.getManLength());
+ orderDetlValueResultUtil.setWidth(mat.getWidth());
Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
orderDetlValueResultUtil.setAnfme(anfmeSign);
//璁㈠崟涓嬪彂
try{
- ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,basArmMast,orderDetlValueResultUtil);
// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
if (result.getCode()!=200){
@@ -4770,7 +4935,7 @@
orderDetlValueResultUtil.setWidth(mat.getWidth());
//璁㈠崟涓嬪彂
try{
- ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,basArmMast,orderDetlValueResultUtil);
// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
if (result.getCode()!=200){
@@ -4878,6 +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;
@@ -4923,13 +5137,16 @@
basAgvMast.setTaskNo(wrkMast.getWrkNo());
basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setBarcode(wrkMast.getBarcode());
basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
basAgvMast.setDevpId(devp.getId());
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);
@@ -4955,6 +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 {
@@ -4966,7 +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);
@@ -4979,7 +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;
@@ -4987,9 +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� --------------------------------------------------------------------------
@@ -5014,10 +5241,33 @@
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());
+ basAgvMast.setBarcode(barcode);
basAgvMast.setIoType(2);
basAgvMast.setFloorNo(2);
@@ -5026,8 +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");
}
+
}
}
}
@@ -5060,7 +5312,7 @@
// 鍒ゆ柇閲嶅宸ヤ綔妗�
List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
if (!basAgvMastList.isEmpty()) {
- News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", inStaAgv.getStaNo());
+// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", inStaAgv.getStaNo());
continue;
}
// 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
@@ -5098,6 +5350,7 @@
basAgvMast.setStaNo(inStaAgv.getStaNo());
basAgvMast.setDevpId(devp.getId());
basAgvMast.setFloorNo(floorNo);
+ basAgvMast.setBarcode(locMast.getBarcode());
basAgvMast.setIoType(0);//AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣 0
basAgvMastService.insert(basAgvMast);
break;
@@ -5179,12 +5432,7 @@
}
if (staProtocol.isAutoing()){
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()!=200){
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
+//
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
//浠诲姟涓嬪彂
@@ -5258,30 +5506,51 @@
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 || basAgvMast.getStaNo().equals(2034)) {
- WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
- agvBindCtnrAndBinParam.setCtnrTyp("1");
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()==200){
- //浠诲姟涓嬪彂
- ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
- if (result.getCode()==200){
- basAgvMast.setStatus(1);
- basAgvMastService.updateById(basAgvMast);
- } else {
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
+ if(basAgvMast.getFloorNo()==1) {
+// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
+// AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+// agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
+// agvBindCtnrAndBinParam.setCtnrTyp("1");
+// ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
+// if (resultBind.getCode()==200){
+// //浠诲姟涓嬪彂
+// ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+// if (result.getCode()==200){
+// basAgvMast.setStatus(1);
+// basAgvMastService.updateById(basAgvMast);
+// } else {
+// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+// }
+// } else {
+// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+// }
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
} else {
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
}
}else{
+ if (!Cools.isEmpty(basAgvMast.getSourceStaNo())){
+ if (basAgvMast.getSourceStaNo().equals(4006)){
+
+ AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
+ agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
+ agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
+ agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
+ agvBindCtnrAndBinTwoParam.setIndBind("1");;
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV瀹瑰櫒缁戝畾瑙ｇ粦",
+ AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
+ if (resultBind.getCode()!=200){
+ basAgvMast.setStatus(4);
+ basAgvMastService.updateById(basAgvMast);
+ }
+ }
+ }
//浠诲姟涓嬪彂
ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
if (result.getCode()==200){
--
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