巷道内移库给堆垛机下发任务

shkj-wms/src/main/java/com/shkj/wms/scheduled/ScheduledTasks.java

@@ -4,6 +4,7 @@ import cn.hutool.core.bean.BeanUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.injector.methods.UpdateById;
 import com.baomidou.mybatisplus.extension.api.R;
 import com.shkj.common.constant.RedisConstant;
 import com.shkj.common.core.domain.Result;
@@ -44,6 +45,7 @@ import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 import org.springframework.transaction.annotation.Transactional;
+import org.unbescape.css.CssIdentifierEscapeLevel;
 
 import javax.annotation.Resource;
 import java.math.BigDecimal;
@@ -1579,6 +1581,10 @@ public class ScheduledTasks {
             }
 
         }
+        else if (taskType.equals(TaskTypeEnum.seat_adjustment.getValue())){
+            BusinDataTask businDataTask = iBusinDataTaskService.getById(businDataTaskVo.getId());
+            moveTask(businDataTask);
+        }
         log.info("任务号" + businDataTaskVo.getId() + "任务状态" + businDataTaskVo.getTaskStatus() + "点位信息" + businDataTaskVo.getPoints());
         //统一提交任务数据
         iBusinDataTaskService.saveOrUpdate(BeanUtil.toBean(businDataTaskVo, BusinDataTask.class));
@@ -1606,7 +1612,11 @@ public class ScheduledTasks {
         return Result.err();
     }
 
-    // 出库任务
+     /**
+     * 给堆垛机下发出库任务
+     * @param businDataTask
+     * @return
+     */
     public Result<Boolean> outTask(BusinDataTask businDataTask) {
         //查看输送线是否拥堵
         Result<Boolean> booleanResult = this.PLCout(businDataTask);
@@ -1704,6 +1714,104 @@ public class ScheduledTasks {
         }
     }
 
+    /**
+     * 巷道内移库任务，给堆垛机下发指令
+     * @param businDataTask
+     * @return
+     */
+    public Result<Boolean> moveTask(BusinDataTask businDataTask) {
+
+        List<WcsPlcProperty> propertyList = iWcsPlcPropertyService.getWcsPlcPropertyByPlcId(businDataTask.getPlcId());
+
+        WcsPlcConnect plcConnect = iWcsPlcConnectService.getById(businDataTask.getPlcId());
+        PlcOperate stkOperate = plcInit.getPlcOperateByIp(plcConnect.getPlcIp());
+        //堆垛机是否空闲
+        String readNullPoint="";
+        String plcTaskId ="";
+        String plcToRow ="";
+        String plcToColumn ="";
+        String plcToLayer ="";
+        String plcFromRow ="";
+        String plcFromColumn ="";
+        String plcFromLayer ="";
+        //堆垛机工作状态
+        String overonaddress="";
+        String plcml="";
+        for (WcsPlcProperty stkProperty : propertyList) {
+            //获取要堆垛机要写入的点位
+            if (stkProperty.getPointType().equals("101")) {
+                plcTaskId = stkProperty.getAddress();
+            }else if (stkProperty.getPointType().equals("108")){
+                plcToRow = stkProperty.getAddress();
+            }else if (stkProperty.getPointType().equals("109")){
+                plcToColumn =stkProperty.getAddress();
+            }else if (stkProperty.getPointType().equals("110")){
+                plcToLayer=stkProperty.getAddress();
+            }else if (stkProperty.getPointType().equals("104")){
+                plcFromRow=stkProperty.getAddress();
+            }else if(stkProperty.getPointType().equals("105")){
+                plcFromColumn=stkProperty.getAddress();
+            }else if(stkProperty.getPointType().equals("106")){
+                plcFromLayer=stkProperty.getAddress();
+            }else if(stkProperty.getPointType().equals("102")){
+                plcml=stkProperty.getAddress();
+            }else if (stkProperty.getPointType().equals("12")){
+                readNullPoint=stkProperty.getAddress();
+            }else if(stkProperty.getPointType().equals("4")){
+                overonaddress= stkProperty.getAddress();
+            }
+        }
+
+        //根据连接的plcId获取属性
+        PLCReadAndWrite plcReadAndWriteD = new PLCReadAndWrite();
+        Map<String, Object> pointDMap = plcReadAndWriteD.readPlcData(stkOperate, plcConnect.getPointTables());
+        if (pointDMap.containsKey(readNullPoint)&&Boolean.valueOf(pointDMap.get(readNullPoint).toString())&&pointDMap.get(overonaddress).equals("0")) {
+            //给堆垛机写命令
+            Map<String, Object> allMap = new HashMap<>(1);
+            Map<String, Object> plcTaskIdMap = new HashMap<>(1);
+            plcTaskIdMap.put("INTEGER", businDataTask.getId());
+            allMap.put(plcTaskId, plcTaskIdMap);
+            Map<String, Object> plcFromRowMap = new HashMap<>(1);
+            plcFromRowMap.put("SHORT", businDataTask.getFromRow());
+            allMap.put(plcFromRow, plcFromRowMap);
+            Map<String, Object> plcFromColumnMap = new HashMap<>(1);
+            plcFromColumnMap.put("SHORT", businDataTask.getFromColumn());
+            allMap.put(plcFromColumn, plcFromColumnMap);
+            Map<String, Object> plcFromLayerMap = new HashMap<>(1);
+            plcFromLayerMap.put("SHORT", businDataTask.getFromLayer());
+            allMap.put(plcFromLayer, plcFromLayerMap);
+            Map<String, Object> plcToRowMap = new HashMap<>(1);
+            plcToRowMap.put("SHORT", businDataTask.getToRow());
+            allMap.put(plcToRow, plcToRowMap);
+            Map<String, Object> plcToColumnMap = new HashMap<>(1);
+            plcToColumnMap.put("SHORT", businDataTask.getToColumn());
+            allMap.put(plcToColumn, plcToColumnMap);
+            Map<String, Object> plcToLayerMap = new HashMap<>(1);
+            plcToLayerMap.put("SHORT", businDataTask.getToLayer());
+            allMap.put(plcToLayer, plcToLayerMap);
+            Map<String, Object> plcMLMap = new HashMap<>(1);
+            plcMLMap.put("Short", 4);
+            allMap.put(plcml, plcMLMap);
+
+            PLCReadAndWrite plcReadAndWrite = new PLCReadAndWrite();
+            if (plcReadAndWrite.execWrite(stkOperate, JsonUtil.toJSONString(allMap))) {
+                log.info("巷道内移库任务给堆垛机下发成功！"+businDataTask.getId());
+                businDataTask.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
+                iBusinDataTaskService.updateById(businDataTask);
+                return Result.ok();
+            }else {
+                businDataTask.setTaskStatus(TaskStatusEnum.err.getValue());
+                businDataTask.setExceptionMsg("下发堆垛机命令失败");
+                businDataTask.setUpdateTime(DateUtils.getNowDate());
+                iBusinDataTaskService.updateById(businDataTask);
+                log.info("巷道内移库任务给堆垛机下发失败！"+businDataTask.getId());
+                return  Result.err().msg("巷道内移库任务给堆垛机下发失败");
+            }
+        }
+        return Result.ok();
+    }
+
+
 
     //检查当前物料号是否有出库任务（正常出库，紧急出库）
     public BusinDataTaskOutVo checkOutTaskData(String goods) {

shkj-wms/src/main/java/com/shkj/wms/service/impl/BusinDataTaskServiceImpl.java

@@ -1964,6 +1964,13 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 return Result.err().msg("移入货位已被占用：" + inBaseLocation.getLocationCode());
             }
 
+            //获取堆垛机
+            BasePointDeviceQueryBo pointDeviceQueryBo = new BasePointDeviceQueryBo();
+            pointDeviceQueryBo.setDevType("1");
+            pointDeviceQueryBo.setTunnel(outBaseLocation.getTunnel());
+            BaseDevicePlcVo baseDevicePlcVo = baseLocationPlcMapper.selectBaseDevicePlc(pointDeviceQueryBo);
+            Long stkPlcId = baseDevicePlcVo.getPlcId();
+
             inBaseLocation.setLocationStatus("4");
             iBaseLocationService.updateById(inBaseLocation);
             //更改货位状态未移库中，此货位不可在出库
@@ -1983,6 +1990,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
             BusinDataTask dataTaskIn = new BusinDataTask();
 
             if (!inTunnel.equals(outTunnel)) {
+                //移出任务
                 dataTaskOut.setTaskStatus("0");
                 dataTaskOut.setBatch(DateUtils.getDate());
                 dataTaskOut.setIsUrgent("0");//非紧急任务
@@ -1992,8 +2000,11 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 dataTaskOut.setFromLayer(outBaseLocation.getLayer());
                 dataTaskOut.setFromRow(outBaseLocation.getLocationRow());
                 dataTaskOut.setTaskType(TaskTypeEnum.relocation_out.getValue());
+                dataTaskOut.setTunnel(outBaseLocation.getTunnel());
+                dataTaskOut.setPlcId(stkPlcId);
 
-                dataTaskIn.setTaskStatus("0");
+                //移入任务
+                dataTaskIn.setTaskStatus(TaskStatusEnum.wait_callback.getValue());
                 dataTaskIn.setBatch(DateUtils.getDate());
                 dataTaskIn.setIsUrgent("0");//非紧急任务
                 dataTaskIn.setIsTop("0");
@@ -2002,6 +2013,7 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 dataTaskIn.setToRow(inBaseLocation.getLocationRow());
                 dataTaskIn.setToColumn(inBaseLocation.getLocationColumn());
                 dataTaskIn.setTaskType(TaskTypeEnum.relocation_in.getValue());
+                dataTaskIn.setTunnel(inBaseLocation.getTunnel());
 
             } else {
                 dataTaskAdd.setTaskStatus("0");
@@ -2016,6 +2028,8 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                 dataTaskAdd.setFromRow(outBaseLocation.getLocationRow());
                 dataTaskAdd.setFromLayer(outBaseLocation.getLayer());
                 dataTaskAdd.setFromColumn(outBaseLocation.getLocationColumn());
+                dataTaskAdd.setTunnel(outTunnel);
+                dataTaskAdd.setPlcId(stkPlcId);
             }
 
             for (SysStockDetailVo sysStockDetailVo : sysStockDetailVos) {
@@ -2036,12 +2050,14 @@ public class BusinDataTaskServiceImpl extends ServiceImpl<BusinDataTaskMapper, B
                         dataTaskOut.setPlcId(plcId);
                         dataTaskOut.setDpsNoOne(Long.valueOf(devCode));
                         dataTaskOut.setLocationId(inLocationId);
-                        this.save(dataTaskIn);
+                        this.save(dataTaskOut);
+
                         taskInId = dataTaskIn.getId();
                         dataTaskOut.setAssociatedTasksId(dataTaskIn.getId().toString());
                         this.save(dataTaskOut);
                         taskOutId = dataTaskOut.getId();
                     } else {
+                        dataTaskAdd.setLocationId(inBaseLocation.getId());
                         this.save(dataTaskAdd);
                     }
                     index++;