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@@ -1,31 +1,201 @@
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package com.github.zuihou.business.productionResourceCenter.strategy.impl;
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+import cn.hutool.core.collection.CollectionUtil;
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+import cn.hutool.core.util.ObjectUtil;
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+import com.github.zuihou.business.DemoLine.DemoCacheKey;
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+import com.github.zuihou.business.DemoLine.DemoLineConstant;
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+import com.github.zuihou.business.DemoLine.YunjianConstant;
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import com.github.zuihou.business.edgeLibrary.entity.StockInfo;
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import com.github.zuihou.business.edgeLibrary.entity.Storge;
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-import com.github.zuihou.business.operationManagementCenter.entity.TaskNode;
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+import com.github.zuihou.business.edgeLibrary.service.StorgeService;
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+import com.github.zuihou.business.operationManagementCenter.entity.*;
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+import com.github.zuihou.business.operationManagementCenter.service.*;
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+import com.github.zuihou.business.productionReadyCenter.dao.BBomMapper;
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+import com.github.zuihou.business.productionReadyCenter.entity.BBom;
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import com.github.zuihou.business.productionReadyCenter.entity.BomProcedure;
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+import com.github.zuihou.business.productionResourceCenter.dao.ProductionresourceBizMapper;
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+import com.github.zuihou.business.productionResourceCenter.dao.ZZoneProductionresourceMapper;
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+import com.github.zuihou.business.productionResourceCenter.entity.Productionresource;
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import com.github.zuihou.business.productionResourceCenter.entity.ProductionresourcePosition;
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+import com.github.zuihou.business.productionResourceCenter.entity.ZZone;
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+import com.github.zuihou.business.productionResourceCenter.entity.ZZoneProductionresource;
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+import com.github.zuihou.business.productionResourceCenter.service.ProductionresourcePositionService;
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+import com.github.zuihou.business.productionResourceCenter.service.ZZoneService;
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import com.github.zuihou.business.productionResourceCenter.strategy.RobotStrategy;
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+import com.github.zuihou.business.util.MsgUtil;
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+import com.github.zuihou.common.constant.DictionaryKey;
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+import com.github.zuihou.common.util.StringUtil;
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+import com.github.zuihou.database.mybatis.conditions.Wraps;
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+import com.github.zuihou.database.mybatis.conditions.query.LbqWrapper;
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+import com.github.zuihou.tenant.service.ProductionresourceService;
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+import com.google.common.collect.Maps;
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+import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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+import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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+import java.util.concurrent.TimeUnit;
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+import java.util.stream.Collectors;
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@Component("TOOLROBOT")
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public class ToolRobotStrategy implements RobotStrategy {
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+
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+ @Autowired
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+ private ZZoneProductionresourceMapper zZoneProductionresourceMapper;
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+
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+ @Autowired
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+ private TaskNodeService taskNodeService;
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+
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+ @Autowired
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+ private TaskService taskService;
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+
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+ @Autowired
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+ private ZZoneService zoneService;
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+
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+ @Autowired
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+ private PlanService planService;
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+
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+ @Autowired
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+ private ProductionresourceService productionresourceService;
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+
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+ @Autowired
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+ private BBomMapper bBomMapper;
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+
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+ @Autowired
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+ private MsgUtil msgUtil;
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+
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+ @Autowired
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+ private StorgeService storgeService;
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+
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+ @Autowired
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+ private WorkpieceService workpieceService;
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+
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+ @Autowired
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+ private ProductionresourceBizMapper productionresourceBizMapper;
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+
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+ @Autowired
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+ private ProductionresourcePositionService productionresourcePositionService;
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+
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+ @Autowired
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+ private OrderTaskService orderTaskService;
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+
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+
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@Override
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public Map robotInfo(TaskNode taskNode, String zoneName) {
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- return null;
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+ // 天轨机器人初始化
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+ Map<String, Object> robotInfo = Maps.newConcurrentMap();
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+ TTask task = taskService.getById(taskNode.getTaskId());
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+ //获取天轨机器人
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+ //com.github.zuihou.business.productionResourceCenter.entity.Productionresource robot = productionresourceBizMapper.selectById(taskNode.getResourceId());
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+ Productionresource cutToolRobot = productionresourceBizMapper.selectOne(new LbqWrapper<Productionresource>().likeRight(Productionresource::getCode, "jqr2").last("limit 1"));
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+ ZZone zZone = zoneService.getOne(new LbqWrapper<ZZone>().eq(ZZone::getName, zoneName).last("limit 1"));
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+ BBom bom = bBomMapper.selectById(task.getBomId());
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+ OrderTask orderTask = orderTaskService.getById(task.getOrderId());
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+
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+ Map plcInfo = DictionaryKey.PLC_CATEGORY.get(zZone.getNo());
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+
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+ robotInfo.put("robot", cutToolRobot);
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+ robotInfo.put("zZone", zZone);
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+ robotInfo.put("bom", bom);
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+ robotInfo.put("plcInfo", plcInfo);
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+ robotInfo.put("orderTask", orderTask);
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+ robotInfo.put("singleRunFlag", "1");
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+ return robotInfo;
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}
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@Override
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- public Map robotCheck(TaskNode taskNode, Map robotInfo, List<StockInfo> flikustockInfos, BomProcedure bomProcedure,Map<String, Object> dataMap) {
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- return null;
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+ public Map robotCheck(TaskNode taskNode, Map robotInfo, List<StockInfo> flikustockInfos, BomProcedure bomProcedure,Map<String, Object> returnMap) {
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+ Map<String, Object> dataMap = Maps.newConcurrentMap();
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+ dataMap.put(taskNode.getId().toString() + "count", 0);
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+ dataMap.put(YunjianConstant.YUNJIAN_ROBORT_CACHE_FLAG, "0");
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+ Storge startStore = null;
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+ OrderTask orderTask = (OrderTask) robotInfo.get("orderTask");
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+ if (CollectionUtil.isNotEmpty(flikustockInfos)) {
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+ //刀具线边库查询
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+ startStore = storgeService.getById(flikustockInfos.get(0).getStorgeId());
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+ }else {
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+ //硬件设备库位
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+ List<ProductionresourcePosition> storgeList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{taskNode.getResourceId().toString()});
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+ startStore = storgeService.getById(storgeList.get(0).getStorgeId());
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+ }
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+ //CCS判断取条件是否满足
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+ boolean bool = true;
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+ if(!bool){
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+ msgUtil.createWarnLog("刀具节点起始位取条件不满足","DataException");
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+ dataMap.put("result", false);
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+ dataMap.put("resultmsg","刀具节点起始位取条件不满足");
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+ return dataMap;
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+ }
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+
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+ //处理目标库位
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+ returnMap = this.robotTarget(taskNode, robotInfo, null, bomProcedure,returnMap);
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+
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+ Storge targetStorge = !returnMap.containsKey("store") ? null : (Storge) returnMap.get("store");
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+ Long targetStorgeResourceId = !returnMap.containsKey("storeResourceId") ? null : Long.valueOf(returnMap.get("storeResourceId").toString());
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+
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+ if (ObjectUtil.isEmpty(targetStorge)) {
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+ dataMap.put("result", false);
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+ dataMap.put("resultmsg","目标点位不满足，线边库不符合要求存放");
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+ return dataMap;
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+ }
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+ //String targetXbk = !returnMap.containsKey("targetxbk") ? null : returnMap.get("targetxbk").toString();
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+
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+ //处理机器人库位
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+ List<ProductionresourcePosition> robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{taskNode.getResourceId().toString()});
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+ Map putMap = this.robotPut(returnMap, taskNode, startStore, targetStorge, robotList, null, targetStorgeResourceId);
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+ return putMap;
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}
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@Override
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- public Map robotPut(Map dataMap, TaskNode taskNode, Storge startStorge, Storge endStorge, List<ProductionresourcePosition> robotList, String targetxbk, Long targetStorgeResourceId) {
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- return null;
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+ public Map robotPut(Map returnMap, TaskNode taskNode, Storge startStorge, Storge targetStorge, List<ProductionresourcePosition> robotList, String targetxbk, Long targetStorgeResourceId) {
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+ Map<String, List<ProductionresourcePosition>> jqrMap = robotList.stream().collect(Collectors.groupingBy(ProductionresourcePosition::getPointId));
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+ Storge jqrStorge = null;
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+ List<ProductionresourcePosition> jqrList = jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS);
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+ if(jqrList.size() == 0){
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+ returnMap.put("result", false);
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+ return returnMap;
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+ }else {
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+ jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
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+ if (null == jqrStorge) {
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+ returnMap.put("result", false);
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+ return returnMap;
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+ }
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+ }
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+ jqrStorge.setCompleteBatchNo(taskNode.getCompleteBatchNo());
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+ storgeService.lockStorge(jqrStorge, taskNode.getId());
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+ targetStorge.setCompleteBatchNo(taskNode.getCompleteBatchNo());
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+ storgeService.lockStorge(targetStorge, taskNode.getId());
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+
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+ msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId(), targetStorge, 10, TimeUnit.DAYS);
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+
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+ returnMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
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+ returnMap.put("taskType", DictionaryKey.TASK_TYPE.get("CARRY")); //移动类型
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+ // 根据起始点位，获取点位属于的类型
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+
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+ Map locationMap = new HashMap();
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+ locationMap.put("location", startStorge.getPointId()); //零件当前位置
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+ locationMap.put("destLocation", targetStorge.getPointId()); //机器人缓存位
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+
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+ TTask task = taskService.getById(taskNode.getTaskId());
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+ OrderTask orderTask = orderTaskService.getOne(new LbqWrapper<OrderTask>().eq(OrderTask::getOrderId, task.getOrderId()).last("LIMIT 1"));
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+ if(StringUtil.isNotEmpty(orderTask.getCutStartNo()) && !orderTask.getCutStartNo().equals("0")) {
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+ locationMap.put("locationNo", ""); //起始刀位号
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+ }
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+ if(StringUtil.isNotEmpty(orderTask.getCutGoalNo()) && !orderTask.getCutGoalNo().equals("0")) {
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+ locationMap.put("destLocationNo", ""); //目的刀位号
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+ }
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+
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+ locationMap.put("taskType", DictionaryKey.TASK_TYPE.get("CARRY"));
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+ locationMap.put("carryType", "1");
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+ returnMap.put(YunjianConstant.YUNJIAN_ROBORT_CACHE_FLAG, "1");
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+ returnMap.put("data", locationMap);
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+ returnMap.put("method", "RobotAction");
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+ returnMap.put("result", true);
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+ returnMap.put("fromStorge", startStorge);
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+ returnMap.put("toStorge", targetStorge);
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+
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+ return returnMap;
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}
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@Override
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@@ -33,4 +203,31 @@ public class ToolRobotStrategy implements RobotStrategy {
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return null;
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}
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+ //获取目标地址
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+ public Map robotTarget(TaskNode taskNode, Map robotInfo, List<ProductionresourcePosition> xbkList, BomProcedure bomProcedure, Map<String, Object> returnMap) {
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+ List<ProductionresourcePosition> targetList = null;
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+ Long targetResourceId = taskNode.getTargetResourceId();
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+ if(targetResourceId == null){
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+ msgUtil.createWarnLog("刀具节点目标位数据为空","DataException");
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+ return null;
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+ }
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+ targetList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{targetResourceId.toString()});
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+ if(CollectionUtil.isEmpty(targetList)){
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+ msgUtil.createWarnLog("刀具节点目标位被占用","DataException");
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+ return null;
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+ }
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+ //CCS判断目标位点位是否允许放置判断
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+ boolean bool = true;
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+ if(!bool){
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+ msgUtil.createWarnLog("刀具节点目标位放置条件不满足","DataException");
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+ return null;
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+ }
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+ Storge targetStorge = storgeService.getById(targetList.get(0).getStorgeId());
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+ returnMap.put("storeResourceId", targetList.get(0).getResourceId());
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+ returnMap.put("store", targetStorge);
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+ returnMap.put("targetxbk", "0");
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+
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+ return returnMap;
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+ }
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+
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}
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wang.sq@aliyun.com