From e53d36a01183ebe660ab2d77c9bcd4e0ab6c42a3 Mon Sep 17 00:00:00 2001
From: zyx <zyx123456>
Date: 星期二, 06 二月 2024 19:20:06 +0800
Subject: [PATCH] #AGV 输送线扫码器扫描
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 230 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 179 insertions(+), 51 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 cee41d4..499e519 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -5,6 +5,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -238,7 +239,7 @@
param.setLocType1(locTypeDto.getLocType1());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
+ .setPath("/rpc/pakin/loc/v2")
.setJson(JSON.toJSONString(param))
.build()
.doPost();
@@ -277,7 +278,7 @@
ledThread.setLedMk(false);
}
}
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
} else if (code == 700) {
// staProtocol.setWorkNo((short) 32002);
// staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
@@ -514,7 +515,7 @@
// continue;
// }
} else if (code == 500) {
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
}
} catch (Exception e) {
e.printStackTrace();
@@ -669,7 +670,7 @@
// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
} else if (code == 500) {
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
}
} catch (Exception e) {
e.printStackTrace();
@@ -1611,8 +1612,12 @@
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
//鎷ｆ枡鍐嶅洖搴擄紝閲嶆柊鍒嗛厤璁惧宸ヤ綔鍙�
- Random random = new Random();
- int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//鑾峰彇璁惧宸ヤ綔鍙�
+ int deviceWrk = commonService.getWorkNo(8);//鐢熸垚鎻愬崌鏈鸿澶囧伐浣滃彿
+ BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
+ if (basLiftOpt != null) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛岃澶囧伐浣滃彿鍑虹幇閲嶅鎯呭喌锛岃鑱旂郴鎶�鏈汉鍛樻敮鎸併��", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
liftCommand.setTaskNo((short) deviceWrk);
}
ArrayList<NyLiftCommand> commands = new ArrayList<>();
@@ -1775,10 +1780,13 @@
&& liftProtocol.getTaskNo() != 0
&& !liftProtocol.getBusy()
) {
- BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
int taskNo = liftProtocol.getTaskNo().intValue();
- if (basLiftOpt != null) {
- taskNo = basLiftOpt.getWrkNo();
+ if (taskNo >= 20000 && taskNo <= 30000) {
+ //鎻愬崌鏈鸿澶囧伐浣滃彿锛岄渶瑕佹煡璇㈠搴斾换鍔″彿
+ BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId());
+ if (basLiftOpt != null) {
+ taskNo = basLiftOpt.getWrkNo();
+ }
}
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
@@ -1803,6 +1811,7 @@
wrkMast.setWrkSts(29L);
wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(new Date());
}
}
@@ -2455,7 +2464,7 @@
// param.setLocType1(locTypeDto.getLocType1());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
+ .setPath("/rpc/pakin/loc/v2")
.setJson(JSON.toJSONString(param))
.build()
.doPost();
@@ -2479,7 +2488,7 @@
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
}
}
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
}
} catch (Exception e) {
e.printStackTrace();
@@ -2624,9 +2633,10 @@
}
if (wrkMast.getInvWh() == null) {
- wrkMast.setInvWh("Y");//鏍囪宸茬粡涓嬪彂鏈烘鑷備换鍔�
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
+ boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
+ if (result) {
+ wrkMast.setInvWh("Y");//鏍囪宸茬粡涓嬪彂鏈烘鑷備换鍔�
+ wrkMastMapper.updateById(wrkMast);
}
}
}
@@ -2643,9 +2653,10 @@
continue;
}
if (wrkMast.getInvWh() == null) {
- wrkMast.setInvWh("Y");//鏍囪宸茬粡涓嬪彂鏈烘鑷備换鍔�
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
+ boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
+ if (result) {
+ wrkMast.setInvWh("Y");//鏍囪宸茬粡涓嬪彂鏈烘鑷備换鍔�
+ wrkMastMapper.updateById(wrkMast);
}
}
}
@@ -2728,13 +2739,38 @@
return false;
}
+ //閫氱煡WMS褰撳墠鎷ｆ枡绔欑偣淇℃伅
+ private boolean agvCureentCall(String staNo, String barcode) {
+ try {
+ HashMap<String, Object> param = new HashMap<>();
+ param.put("devNo", staNo);
+ param.put("containerCode", barcode);
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/current/containerCode")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ News.info("鎮寕绾匡紝WMS杩斿洖缁撴灉锛�" + jsonObject);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {//鍛煎彨AGV
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ return false;
+ }
+
/**
* AGV琛ヨ揣(鎮寕绾块�氱煡AGV鍙栬揣)
*/
public void agvRestockIntoByHangingWire() {
try {
//妫�娴�350鍜�351鎵爜鍣�
- int[] barcodeStaNo = {11, 12};//11 => 350绔欐壂鐮佸櫒,12 => 351绔欐壂鐮佸櫒
+ int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350绔欐壂鐮佸櫒,12 => 351绔欐壂鐮佸櫒
for (int staNo : barcodeStaNo) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
@@ -2750,11 +2786,61 @@
String agvStaNo = null;
if (staNo == 11) {
agvStaNo = "303-1";
- } else {
+ } else if(staNo == 12){
agvStaNo = "304-1";
+ } else if(staNo == 14){
+ agvStaNo = "311-1";
+ } else if(staNo == 16){
+ agvStaNo = "313-1";
+ } else if(staNo == 18){
+ agvStaNo = "315-1";
+ } else if(staNo == 20){
+ agvStaNo = "317-1";
}
//閫氱煡AGV鍙栬揣
boolean result = agvRestockCall(agvStaNo, barcode);
+ if (result) {
+ barcodeThread.setBarcode("");
+ }
+ log.info(barcodeThread.getSlave().getId() + "鍙锋壂鐮佸櫒锛岄�氱煡AGV鍙栬揣锛屾潯鐮佸彿锛�" + barcode);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * AGV鎷ｆ枡绔欑偣淇℃伅
+ */
+ public void agvCurrentContainerCodeInfoWire() {
+ try {
+ //妫�娴�350鍜�351鎵爜鍣�
+ int[] barcodeStaNo = {13, 15,17,19};//11 => 350绔欐壂鐮佸櫒,12 => 351绔欐壂鐮佸櫒
+ for (int staNo : barcodeStaNo) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if (!Cools.isEmpty(barcode)) {
+ if (barcode.contains("NoRead")) {
+ continue;
+ }
+
+ String agvStaNo = null;
+ if (staNo == 13) {
+ agvStaNo = "310-1";
+ } else if(staNo == 15){
+ agvStaNo = "312-1";
+ } else if(staNo == 17){
+ agvStaNo = "314-1";
+ } else if(staNo == 19){
+ agvStaNo = "316-1";
+ }
+ //閫氱煡WMS褰撳墠瀹瑰櫒鐮�
+ boolean result = agvCureentCall(agvStaNo, barcode);
if (result) {
barcodeThread.setBarcode("");
}
@@ -2898,43 +2984,81 @@
ledCommand.setBarcode(barcode);
if (ioType != 110 && ioType != 10) {
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
- locDetls.forEach(locDetl -> {
- Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
- Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
- Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
- Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
- Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//鏂欑鐮�
- List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
- if (Cools.isEmpty(detl)) {
- String suppCode = "";
- if (locDetl.getSuppCode() != null) {
- suppCode = locDetl.getSuppCode();
- }
- ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
- } else {
- //鍑哄簱鏁伴噺绱
- Double conut = 0.0;
- for (WrkDetl wrkDetl : detl) {
- conut = conut + wrkDetl.getAnfme();
- }
-
- for (WrkDetl wrkDetl : detl) {
+ if (ioType == 101) {
+ List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
+ wrkDetls.forEach(wrkDetl -> {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
+ });
+// locDetls.forEach(locDetl -> {
+// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
+// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
+// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
+// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
+// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//鏂欑鐮�
+// List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
+// if (Cools.isEmpty(detl)) {
+// String suppCode = "";
+// if (locDetl.getSuppCode() != null) {
+// suppCode = locDetl.getSuppCode();
+// }
+// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
+// } else {
+// //鍑哄簱鏁伴噺绱
+// Double conut = 0.0;
+// for (WrkDetl wrkDetl : detl) {
+// conut = conut + wrkDetl.getAnfme();
+// }
+//
+// for (WrkDetl wrkDetl : detl) {
+// String suppCode = "";
+// if (wrkDetl.getSuppCode() != null) {
+// suppCode = wrkDetl.getSuppCode();
+// }
+// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
+// }
+// }
+//
+// });
+ } else {
+ locDetls.forEach(locDetl -> {
+ Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
+ Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
+ Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
+ Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
+ Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//鏂欑鐮�
+ List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
+ if (Cools.isEmpty(detl)) {
String suppCode = "";
- if (wrkDetl.getSuppCode() != null) {
- suppCode = wrkDetl.getSuppCode();
+ if (locDetl.getSuppCode() != null) {
+ suppCode = locDetl.getSuppCode();
}
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
- }
- }
+ ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
+ } else {
+ //鍑哄簱鏁伴噺绱
+ Double conut = 0.0;
+ for (WrkDetl wrkDetl : detl) {
+ conut = conut + wrkDetl.getAnfme();
+ }
- });
+ for (WrkDetl wrkDetl : detl) {
+ String suppCode = "";
+ if (wrkDetl.getSuppCode() != null) {
+ suppCode = wrkDetl.getSuppCode();
+ }
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
+ }
+ }
+
+ });
+ }
+
if (ioType == 107) {
locDetls = new ArrayList<>();
ledCommand.setMatDtos(new ArrayList<>());
}
- if (locDetls.isEmpty()) {
+ if (locDetls.isEmpty() && ioType != 101) {
List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
wrkDetls.forEach(wrkDetl -> {
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
@@ -3386,7 +3510,7 @@
return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
}
//灏濊瘯閿佸畾鐩爣绔欒矾寰�
- boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
if (!result2) {
News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞閿佸畾澶辫触
@@ -3398,7 +3522,7 @@
if (result == null) {
//璺緞鑾峰彇澶辫触锛岄渶瑕佽В閿佷笂闈㈤攣瀹氱殑璺緞
//灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�
- boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
+ boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
if (!result3) {
News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勮В閿佸け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞瑙ｉ攣澶辫触
@@ -3522,8 +3646,12 @@
//鑾峰彇鎻愬崌鏈哄懡浠わ紝璋冨害鎻愬崌鏈哄埌婧愮珯浣嶇疆
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());
- Random random = new Random();
- int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//鑾峰彇璁惧宸ヤ綔鍙�
+ int deviceWrk = commonService.getWorkNo(8);//鐢熸垚鎻愬崌鏈鸿澶囧伐浣滃彿
+ BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
+ if (basLiftOpt != null) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛岃澶囧伐浣滃彿鍑虹幇閲嶅鎯呭喌锛岃鑱旂郴鎶�鏈汉鍛樻敮鎸併��", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
liftCommand.setTaskNo((short) deviceWrk);//鏇存崲闅忔満浠诲姟鍙�
ArrayList<NyLiftCommand> commands = new ArrayList<>();
--
Gitblit v1.9.1