package com.zy.asrs.task; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.exception.CoolException; import com.zy.asrs.entity.BasDevp; import com.zy.asrs.entity.Task; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.TaskService; import com.zy.asrs.service.WrkMastService; import com.zy.asrs.service.impl.BasDevpServiceImpl; import com.zy.asrs.task.core.ReturnT; import com.zy.asrs.task.handler.AGVTaskReportHandler; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Component; import java.util.Date; import java.util.List; @Component public class AGVTaskReportScheduler { private static final Logger log = LoggerFactory.getLogger(WorkMastScheduler.class); @Autowired private TaskService taskService; @Autowired private AGVTaskReportHandler AGVTaskReportHandler; @Value("${hik.switch}") private Boolean switchErpReportOld; @Autowired private WrkMastService wrkMastService; @Autowired private BasDevpServiceImpl basDevpService; /** * 满板和空板出库任务，出到输送线后创建AGV搬运任务 */ @Scheduled(cron = "0/3 * * * * ? ") private void createAGVTask() { if (!switchErpReportOld) { return; } List wrkMasts = wrkMastService.selectList(new EntityWrapper().eq("wrk_sts", 30)); if (wrkMasts.isEmpty()) { return; } for (WrkMast wrkMast : wrkMasts) { //查询是否有源站和目标站有一样的agv搬运任务 //如果有则跳过本次agv搬运任务下发 //mes给的agv目标站点需要解析 Q：区域 ； Z： 站点 String[] split = wrkMast.getMemo().split("-"); //入出库状态： 3.站到站 4.站到区域 Integer ioType = split[0].equals("Q") ? 4 : 3; //agv目标站点 String stnNo = split[1]; Task task1 = taskService.selectOne(new EntityWrapper() .in("source_sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo()) .in("sta_no", wrkMast.getSourceStaNo(), wrkMast.getMemo())); if (Cools.isEmpty(task1)) { //生成AGV搬运出库任务 // 保存工作档 Task task = new Task(); Date date = new Date(); String TaskNo = wrkMast.getWrkNo() + "aa" + date.getTime(); task.setWrkNo(wrkMast.getWrkNo()) .setTaskNo(TaskNo) .setIoTime(date) .setWrkSts(301L) // 工作状态：301.任务下发 .setIoType(ioType) // 入出库状态： 3.站到站 4.站到区域 .setTaskType("agv") .setIoPri(10D) .setFullPlt("Y") // 满板：Y .setPicking("N") // 拣料 .setExitMk("N")// 退出 .setStaNo(wrkMast.getMemo()) .setSourceStaNo(wrkMast.getSourceStaNo()) .setEmptyMk("N")// 空板 .setBarcode(wrkMast.getBarcode())// 托盘码 .setLinkMis("N") .setAppeUser(9945L) .setAppeTime(date) .setModiUser(9945L) .setModiTime(date); if (!taskService.insert(task)) { throw new CoolException("保存工作档失败"); } else { wrkMast.setWrkSts(31L);//31.AGV搬运任务创建成功 wrkMast.setModiTime(date); wrkMastService.updateById(wrkMast); } } } } /** * AGV 任务下发接口，定时给AGV下发任务 */ @Scheduled(cron = "0/3 * * * * ? ") private void execute() { if (!switchErpReportOld) { return; } //查询所有agv待下发任务 List wrkSts = taskService.selectList(new EntityWrapper().eq("wrk_sts", 301).orderBy("appe_time")); if (wrkSts != null && !wrkSts.isEmpty()) { for (Task task : wrkSts) { //查询是否有正在作业的源站和目标站有一样的agv搬运任务 //如果有则跳过本次agv搬运任务下发 Task task1 = taskService.selectOne(new EntityWrapper() .eq("wrk_sts", 302) .andNew() .in("source_sta_no", task.getSourceStaNo(), task.getStaNo()) .or() .in("sta_no", task.getStaNo(), task.getSourceStaNo())); Boolean flag = true; if (Cools.isEmpty(task1)) { //agv搬运移动任务下发时，搬运目标点是否是立库AGV和堆垛机接驳站点 //如果是接驳站点则需要判断接驳站点是否有空料架 //如果有空料架需要判断是否有出库任务 //有出库任务则禁止下发本次搬运任务 if (task.getStaNo().equals("401") || task.getStaNo().equals("402") || task.getStaNo().equals("307")) { flag = false; BasDevp basDevp = basDevpService.checkSiteStatus(Integer.parseInt(task.getStaNo())); if (basDevp != null && !Cools.isEmpty(basDevp.getInreq1()) && basDevp.getInreq1().equals("Y") && basDevp.getLoading().equals("N") && basDevp.getWrkNo()!=9991 && basDevp.getWrkNo()!=9999) { List wrkMasts = wrkMastService.selectList(new EntityWrapper() .in("io_type", 101, 110) .le("wrk_sts", 14) .eq("sta_no", task.getStaNo())); List wrkMasts1 = wrkMastService.selectList(new EntityWrapper().eq("io_type", 1).eq("sta_no", task.getStaNo())); if (Cools.isEmpty(wrkMasts)&&Cools.isEmpty(wrkMasts1)) { //判断是否已经生成空料架搬运回空料架补库区 //如果有的话，不在生成任务 Task task2 = taskService.selectOne(new EntityWrapper().eq("task_type","AGV空料架回缓存区").eq("source_sta_no", task.getStaNo())); //有入库任务搬运，需要生成空料架搬运到空料架缓冲区AGV任务 if (Cools.isEmpty(task2)) { //生成AGV搬运出库任务 // 保存工作档 String SourceStaNo = ""; if (task.getStaNo().equals("401")) { //大料架缓冲区 SourceStaNo = "Q-E3"; }else if (task.getStaNo().equals("402")) { SourceStaNo = "Q-E2"; }else if (task.getStaNo().equals("307")) { SourceStaNo = "Q-E1"; } Task task3 = new Task(); Date date = new Date(); String TaskNo = task.getTaskNo() + "bb" + date.getTime(); task3.setWrkNo(999999) .setTaskNo(TaskNo) .setIoTime(date) .setWrkSts(301L) // 工作状态：301.任务下发 .setIoType(4) // 入出库状态： 3.站到站 4.站到区域 .setTaskType("AGV空料架回缓存区") .setIoPri(10D) .setFullPlt("Y") // 满板：Y .setPicking("N") // 拣料 .setExitMk("N")// 退出 .setStaNo(SourceStaNo) .setSourceStaNo(task.getStaNo())//空料架缓存区E1 .setEmptyMk("N")// 空板 .setBarcode("")// 托盘码 .setLinkMis("N") .setAppeUser(9945L) .setAppeTime(date) .setModiUser(9945L) .setModiTime(date); if (!taskService.insert(task3)) { throw new CoolException("保存工作档失败"); } break; } } }else if(basDevp != null && !Cools.isEmpty(basDevp.getInreq1()) && basDevp.getInreq1().equals("N") && basDevp.getLoading().equals("N") ) { flag = true; } } if (flag || task.getTaskType().equals("AGV空料架回缓存区")) { //AGV任务下发 ReturnT start = AGVTaskReportHandler.start(task); if (!start.isSuccess()) { task.setUpdMk("X"); task.setErrorMemo(start.getMsg()); task.setCtnType(task.getCtnType()+1);//下发任务计数 task.setModiTime(new Date()); if (!taskService.updateById(task)) { log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo()); } break; }else { task.setCtnType(task.getCtnType()+1); task.setModiTime(new Date()); task.setWrkSts(302L);//任务执行中 if (!taskService.updateById(task)) { log.error("工作档[workNo={}]标记待处理失败", task.getWrkNo()); } } } } } } } }