From f6e955d57bf5e885afde54a8c6eefe80bc1bec26 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 30 十一月 2023 17:00:06 +0800
Subject: [PATCH] #出入库任务下发

---
 src/main/java/com/zy/core/thread/SiemensCrnThread.java      |   92 ++++++++++++++++++++++++++++++
 src/main/java/com/zy/asrs/controller/LocMastController.java |   14 ++--
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   50 ++++++++++++++--
 src/main/java/com/zy/core/model/command/CrnCommand.java     |    1 
 4 files changed, 141 insertions(+), 16 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/LocMastController.java b/src/main/java/com/zy/asrs/controller/LocMastController.java
index 2f80733..02f7233 100644
--- a/src/main/java/com/zy/asrs/controller/LocMastController.java
+++ b/src/main/java/com/zy/asrs/controller/LocMastController.java
@@ -163,13 +163,13 @@
                     String locNo = String.format("%02d", r) + String.format("%03d", b) + String.format("%02d", l);
                     // 鑾峰彇鍫嗗灈鏈哄彿
                     int crnNo = 0;
-                    Shelves shelves = new Shelves(param.getEndRow() - param.getStartRow() + 1, param.getCrnAmount());
-                    for (List<Integer> node : shelves.nodes){
-                        if (node.contains(r)) {
-                            crnNo = shelves.nodes.indexOf(node) + 1;
-                            break;
-                        }
-                    }
+//                    Shelves shelves = new Shelves(param.getEndRow() - param.getStartRow() + 1, param.getCrnAmount());
+//                    for (List<Integer> node : shelves.nodes){
+//                        if (node.contains(r)) {
+//                            crnNo = shelves.nodes.indexOf(node) + 1;
+//                            break;
+//                        }
+//                    }
                     Date now =  new Date();
                     LocMast locMast = new LocMast();
                     locMast.setLocNo(locNo);
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 5314b84..c66b089 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,7 +4,9 @@
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.common.Cools;
+import com.core.common.R;
 import com.core.exception.CoolException;
+import com.fasterxml.jackson.databind.ObjectMapper;
 import com.zy.asrs.domain.enums.TaskStatusType;
 import com.zy.asrs.entity.*;
 import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
@@ -23,6 +25,7 @@
 import com.zy.core.model.CrnSlave;
 import com.zy.core.model.DevpSlave;
 import com.zy.core.model.Task;
+import com.zy.core.model.command.CommandPackage;
 import com.zy.core.model.command.CrnCommand;
 import com.zy.core.model.protocol.CrnProtocol;
 import com.zy.core.model.protocol.StaProtocol;
@@ -39,8 +42,11 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.io.IOException;
 import java.util.Date;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
 /**
  * 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -77,6 +83,9 @@
     private StaDescMapper staDescMapper;
     @Autowired
     private CommandInfoService commandInfoService;
+
+    @Autowired
+    private OpenServiceImpl openServiceImpl;
 
     @Value("${wms.url}")
     private String wmsUrl;
@@ -157,7 +166,29 @@
                     }
                     String barcode = barcodeThread.getBarcode();
                     if(!Cools.isEmpty(barcode)) {
-
+//                        ToWmsDTO toWmsDTO = new ToWmsDTO();
+//                        Map<String, Object> map = new HashMap<>();
+//                        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
+//                        List<Integer> list = openServiceImpl.getInEnableRoadway();
+//
+//                        //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
+//                        toWmsDTO.setWarehouseId("1688469798893297665");
+//                        toWmsDTO.setContainerCode(param.getContainerCode());
+//                        toWmsDTO.setApplyType("TUNNEL");
+//                        toWmsDTO.setWharfSource(null);
+//                        toWmsDTO.setCanInboundTunnels(list);
+//                        String response = null;
+//                        try {
+//                            response = new HttpHandler.Builder()
+//                                    .setHeaders(map)
+//                                    .setUri(wmsUrl)
+//                                    .setPath("wcsManager/wcsInterface/inboundTaskApply")
+//                                    .setJson(JSON.toJSONString(toWmsDTO))
+//                                    .build()
+//                                    .doPost();
+//                        }catch (Exception e){
+//
+//                        }
                     }
                 }
 
@@ -211,9 +242,14 @@
                                 if (commandInfos.isEmpty()) {
                                     continue;//鍛戒护绌�
                                 }
+
+//                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
+//                                CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
                                 Integer commandStep = taskWrk.getCommandStep();
                                 CommandInfo commandInfo = commandInfos.get(commandStep);
-                                StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
+                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
+                                //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
+                                StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
                                 if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                     log.error("杈撻�佺嚎鍛戒护涓嬫柟澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
                                     continue;//鍛戒护涓嬪彂澶辫触
@@ -234,7 +270,7 @@
     /**
      * 鍏ュ嚭搴�  ===>>  鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
      */
-    public synchronized void crnIoExecute(){
+    public synchronized void crnIoExecute() throws IOException {
         for (CrnSlave crn : slaveProperties.getCrn()) {
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
             CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -279,7 +315,7 @@
     /**
      * 鍏ュ簱  ===>>  鍫嗗灈鏈虹珯鍒板簱浣�
      */
-    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
+    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
         for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
             List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
             for (StaDesc staDesc : staDescs) {
@@ -328,7 +364,8 @@
                     continue;//鍛戒护绌�
                 }
                 CommandInfo commandInfo = commandInfos.get(commandStep);
-                CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
+                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
+                CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
 
                 if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                     log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
@@ -468,7 +505,8 @@
                             continue;//鍛戒护绌�
                         }
                         CommandInfo commandInfo = commandInfos.get(commandStep);
-                        CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
+                        CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
+                        CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
 
                         if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                             log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
diff --git a/src/main/java/com/zy/core/model/command/CrnCommand.java b/src/main/java/com/zy/core/model/command/CrnCommand.java
index 15e1d8e..e04212a 100644
--- a/src/main/java/com/zy/core/model/command/CrnCommand.java
+++ b/src/main/java/com/zy/core/model/command/CrnCommand.java
@@ -1,7 +1,6 @@
 package com.zy.core.model.command;
 
 import com.alibaba.fastjson.annotation.JSONField;
-import com.zy.asrs.entity.CommandInfo;
 import com.zy.core.enums.CrnTaskModeType;
 import lombok.Data;
 
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 9277495..9761ec6 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -26,6 +26,7 @@
 import java.util.ArrayList;
 import java.util.Date;
 import java.util.List;
+import java.util.Optional;
 
 /**
  * 鍫嗗灈鏈虹嚎绋�
@@ -76,7 +77,7 @@
                         break;
                     // 鍐欏叆鏁版嵁
                     case 2:
-                        write((CrnCommand) task.getData());
+                        write2((CrnCommand) task.getData());
                         break;
                     // 澶嶄綅
                     case 3:
@@ -411,6 +412,93 @@
 //        }else if (rowFour.contains(command.getSourcePosX())){
 //            array[4] = (short)4;
 //        }else {
+        array[4] = command.getSourcePosX();
+//        }
+        array[5] = command.getSourcePosY();
+
+        array[6] = command.getDestinationPosZ();
+//        if (rowOne.contains(command.getDestinationPosX())){
+//            array[7] = (short)1;
+//        }else if (rowTwo.contains(command.getDestinationPosX())){
+//            array[7] = (short)2;
+//        }else if (rowThree.contains(command.getDestinationPosX())){
+//            array[7] = (short)3;
+//        }else if (rowFour.contains(command.getDestinationPosX())){
+//            array[7] = (short)4;
+//        }else {
+        array[7] = command.getDestinationPosX();
+//        }
+        array[8] = command.getDestinationPosY();
+        array[9] = command.getCommand();
+
+        // 浣滀笟淇℃伅
+        OperateResult result = siemensNet.Write("DB100.0", array);
+
+        if (command.getAckFinish() != 1) {
+            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+            BasCrnOpt basCrnOpt = new BasCrnOpt(
+                    command.getTaskNo().intValue(),    // 浠诲姟鍙�
+                    command.getCrnNo(),    // 鍫嗗灈鏈篬闈炵┖]
+                    new Date(),    // 涓嬪彂鏃堕棿
+                    command.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 妯″紡
+                    command.getSourcePosX().intValue(),    // 婧愭帓
+                    command.getSourcePosY().intValue(),    // 婧愬垪
+                    command.getSourcePosZ().intValue(),    // 婧愬眰
+                    null,    // 婧愮珯
+                    command.getDestinationPosX().intValue(),    // 鐩爣鎺�
+                    command.getDestinationPosY().intValue(),    // 鐩爣鍒�
+                    command.getDestinationPosZ().intValue(),    // 鐩爣灞�
+                    null,    // 鐩爣绔�
+                    null,    // 鍝嶅簲缁撴灉
+                    null,    // 淇敼鏃堕棿
+                    null    // 淇敼浜哄憳
+            );
+            bean.insert(basCrnOpt);
+        }
+
+        if (result.IsSuccess) {
+            log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+            OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+            return true;
+        } else {
+            OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+            log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+            return false;
+        }
+    }
+
+    /**
+     * 鍐欏叆鏁版嵁
+     */
+    private boolean write2(CrnCommand command){
+        if (null == command) {
+            log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+            return false;
+        }
+        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
+            command.setTaskNo((short) 9999);
+        }
+
+        command.setCrnNo(slave.getId());
+        short[] array = new short[10];
+        if (Cools.isEmpty(command.getAckFinish())) {
+            array[0] = 5;
+        } else {
+            array[0] = command.getAckFinish();
+        }
+        array[1] = command.getTaskNo();
+        array[2] = command.getTaskMode();
+
+        array[3] = command.getSourcePosZ();
+//        if (rowOne.contains(command.getSourcePosX())){
+//            array[4] = (short)1;
+//        }else if (rowTwo.contains(command.getSourcePosX())){
+//            array[4] = (short)2;
+//        }else if (rowThree.contains(command.getSourcePosX())){
+//            array[4] = (short)3;
+//        }else if (rowFour.contains(command.getSourcePosX())){
+//            array[4] = (short)4;
+//        }else {
             array[4] = command.getSourcePosX();
 //        }
         array[5] = command.getSourcePosY();
@@ -453,7 +541,7 @@
                         command.getTaskNo().intValue(),    // 浠诲姟鍙�
                         command.getCrnNo(),    // 鍫嗗灈鏈篬闈炵┖]
                         new Date(),    // 涓嬪彂鏃堕棿
-                        command.getTaskModeType().toString(),    // 妯″紡
+                        command.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 妯″紡
                         command.getSourcePosX().intValue(),    // 婧愭帓
                         command.getSourcePosY().intValue(),    // 婧愬垪
                         command.getSourcePosZ().intValue(),    // 婧愬眰

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