From 2b0bf803f3722c1ca67a95ecbed1b08b223499c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?LAPTOP-S9HJSOEB=5C=E6=98=8A=E5=A4=A9?= Date: Mon, 15 Jan 2024 10:23:16 +0800 Subject: [PATCH] =?UTF-8?q?1.=E8=BF=98=E5=8E=9F=E6=8C=89=E7=85=A7=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=E6=96=87=E4=BB=B6=E8=BF=9B=E8=A1=8C=E4=B8=8D=E5=90=8C?= =?UTF-8?q?=E6=89=AB=E7=A0=81=E7=9A=84=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../web/config/ConfigProperties.java | 8 + .../zhehekeji/web/service/CameraService.java | 1 + .../com/zhehekeji/web/service/PlcService.java | 238 ++++++++++++------ .../web/service/sick/SickSocket.java | 2 +- 4 files changed, 170 insertions(+), 79 deletions(-) diff --git a/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java b/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java index 003dd9b..8ac6966 100644 --- a/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java +++ b/web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java @@ -36,6 +36,8 @@ public class ConfigProperties { private LightSource lightSource; private ScanCodeMode scanCodeMode; + private Rfid rfid; + @Data @@ -74,6 +76,12 @@ public class ConfigProperties { private Integer videoStyleColumn; } + @Data + public static class Rfid { + + private Long scanTime = 5L; + } + @Data public static class SavePath{ private String mediaPath; diff --git a/web/src/main/java/com/zhehekeji/web/service/CameraService.java b/web/src/main/java/com/zhehekeji/web/service/CameraService.java index 73d2c46..e84db19 100644 --- a/web/src/main/java/com/zhehekeji/web/service/CameraService.java +++ b/web/src/main/java/com/zhehekeji/web/service/CameraService.java @@ -327,6 +327,7 @@ public class CameraService { } private void conver(CameraIO cameraIO,Integer type){ + if(type == 0){ cameraIO.setPosition("OK"); }else if(type == 1){ diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java index 13ef37e..7f3cc47 100644 --- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java +++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java @@ -1,6 +1,7 @@ package com.zhehekeji.web.service; import codeDetector.BarcodeDetector; +import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.zhehekeji.common.util.PathUtil; import com.zhehekeji.core.pojo.Result; @@ -24,6 +25,7 @@ import org.springframework.util.StringUtils; import org.springframework.web.bind.annotation.PathVariable; import javax.annotation.Resource; +import java.io.IOException; import java.time.Duration; import java.time.LocalDateTime; import java.util.HashSet; @@ -668,112 +670,169 @@ public class PlcService { } - String path = PathUtil.createFileNameByRowColumn("jpg",cameraId,plcCmdInfo.getRow1(),plcCmdInfo.getColumn1()); - //拍照暂停1s再拍 + String path = PathUtil.createFileNameByRowColumn("jpg", cameraId, plcCmdInfo.getRow1(), plcCmdInfo.getColumn1()); try { - Thread.sleep(configProperties.getCameraConfig().getEDelayCaptureTime()); - } catch (InterruptedException e) { - e.printStackTrace(); - } - cameraCapture(cameraIdTop,false,null,path); - // - String e2 = "E2-" + plcCmdInfo.getLeftRightStr(1) + "-IN"; - log.info("camera ptz"+e2); - gyrateCameraByCode(cameraId, e2); - try { - Thread.sleep(configProperties.getCameraConfig().getEDelayCaptureTime()); - } catch (InterruptedException e) { - e.printStackTrace(); - } - cameraCapture(cameraId,false,null,path+".jpg"); + cameraCapture(cameraId, false, null, path); + } catch (NullPointerException e) { + log.error("相机{}未连接无法拍照", cameraId); + } //托盘码 String trayCode = null; Boolean trayCheck = Boolean.TRUE; - //如果是用扫码枪 扫 托盘码,就直接扫 - //if(configProperties.getScanCodeMode().getTray() == 2){ - SensorGun sensorGun = sensorService.getSensorByPlc(street.getId(),plcCmdInfo.getLeftRight1()); - if(plcCmdInfo.getSeparation1() == 1 && configProperties.getScanCodeMode().getTray() == 2){ + //扫托盘码 + if(configProperties.getScanCodeMode().getTray() == 2) { + log.info("扫码类型：" + configProperties.getScanCodeMode().getTray()); //托盘使用sick扫码枪 - - if(sensorGun == null){ - trayCode = "识别异常"; + SensorGun sensorGun = sensorService.getSensorByPlc(street.getId(), plcCmdInfo.getLeftRight1()); + if (sensorGun == null) { + trayCode = "扫码枪未配置"; trayCheck = Boolean.FALSE; - log.error("no sensor gun config in database ,street id:{},direction:{}",street.getId(),plcCmdInfo.getLeftRight1()); - }else { - trayCode = SickSocket.readOCR(sensorGun.getIp(),sensorGun.getPort()); - log.info("sensor tray code:{}",trayCode); - if("".equals(wmsTrayCode)){ + log.error("no sensor gun config in database ,street id:{},direction:{}", street.getId(), plcCmdInfo.getLeftRight1()); + } else { + trayCode = SickSocket.readOCR(sensorGun.getIp(), sensorGun.getPort()); + log.info("sensor tray code:{}", trayCode); + if ("".equals(wmsTrayCode)) { //托盘码为空，无货物 //只要扫码枪未识别出条码，即认为盘点正确 - if(StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")){ - trayCode = ""; + if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) { + trayCode = "无货物"; trayCheck = Boolean.TRUE; - }else { - trayCode = "识别异常"; + } else { + trayCode = "扫码枪识别异常"; trayCheck = Boolean.FALSE; - log.warn("sick ocr error:{}",trayCode); + log.warn("sick ocr error:{}", trayCode); } - }else { - if(StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")){ - trayCode = "识别异常"; + } else { + if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) { + trayCode = "扫码枪识别异常"; trayCheck = Boolean.FALSE; - log.warn("sick ocr error:{}",trayCode); - }else { - trayCheck = wmsTrayCode.equals(trayCode); + log.warn("sick ocr error:{}", trayCode); + } else { + //扫到就认为正常 + trayCheck = Boolean.TRUE; } } + } + }else if(configProperties.getScanCodeMode().getTray() == 3){ + //扫到的码 + Set tags = new HashSet<>(); + try { + RFIDCheck(plcCmdInfo, true); + Thread.sleep(1000 * configProperties.getRfid().getScanTime()); + } catch (Exception e) { + e.printStackTrace(); + } finally { + tags = RFIDStop(plcCmdInfo); + log.info("盘点rfid扫描结果：" + tags); + } + if (tags !=null && tags.contains(wmsTrayCode)) { + //托盘码为空，无货物 + //只要扫码枪未识别出条码，即认为盘点正确 + trayCode = wmsTrayCode; + trayCheck = Boolean.TRUE; + + } else { + trayCode = trayCode+ "扫码枪识别异常"; + trayCheck = Boolean.FALSE; + log.warn("rfid error:{}", trayCode); } - }else if(configProperties.getScanCodeMode().getTray() == 3){ - //RFID - RFID rfid = rfidService.getRFIDByPlc(street.getId()); } - OrderInfo orderInfo = new OrderInfo(street,plcCmdInfo,1,cmdCode); - Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(orderInfo.getStreetId(),orderInfo.getLeftRight(),orderInfo.getRow(),orderInfo.getColumn()); - String scanCode = null; - Boolean codeCheck = Boolean.TRUE; - Boolean trayCodeCheck = Boolean.TRUE; - //货物使用球机扫码 + Boolean trayGoodCheck = Boolean.TRUE; - if(configProperties.getScanCodeMode().getTray() == 2 && plcCmdInfo.getSeparation1() == 2){ - //托盘使用球机扫码 - if("".equals(wmsTrayCode)){ - //空货物的处理 - //如果系统货物为空，则只要扫码识别未出结果，就认为无货物 - trayCode = BarcodeDetector.detectBestCodeUntilOK(configProperties.getSavePath().getMediaPath()+path,configProperties.getScanCodeMode().getTrayCodeTypes()); - log.info("tray code:{},sys trayCode:{}",trayCode,wmsTrayCode); - if(StringUtils.isEmpty(trayCode)|| trayCode.equals("Unrecognized")){ - trayCheck = Boolean.TRUE; - trayCode = ""; - }else { - trayCheck = wmsTrayCode.equals(trayCode); - } - }else { - trayCode = BarcodeDetector.detectBestCodeUntilOK(configProperties.getSavePath().getMediaPath()+path,configProperties.getScanCodeMode().getTrayCodeTypes()); - if(StringUtils.isEmpty(trayCode)){ - log.error("row:{},cloumn:{}",plcCmdInfo.getRow1(),plcCmdInfo.getColumn1()); - log.error("detectBestBarCode:{}",trayCode); - trayCode = "识别异常"; - trayCheck = Boolean.FALSE; - }else { - trayCheck = wmsTrayCode.equals(trayCode); + //扫货物 + if(configProperties.getScanCodeMode().getGoods() == 2) { + log.info("扫码类型：" + configProperties.getScanCodeMode().getTray()); + //托盘使用sick扫码枪 + SensorGun sensorGun = sensorService.getSensorByPlc(street.getId(), plcCmdInfo.getLeftRight1()); + if (sensorGun == null) { + trayCode = "扫码枪识别异常"; + trayGoodCheck = Boolean.FALSE; + log.error("no sensor gun config in database ,street id:{},direction:{}", street.getId(), plcCmdInfo.getLeftRight1()); + } else { + trayCode = SickSocket.readOCR(sensorGun.getIp(), sensorGun.getPort()); + log.info("sensor tray code:{}", trayCode); + if ("".equals(wmsTrayCode)) { + //托盘码为空，无货物 + //只要扫码枪未识别出条码，即认为盘点正确 + if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) { + trayCode = ""; + trayGoodCheck = Boolean.TRUE; + } else { + trayCode = "扫码枪识别异常"; + trayGoodCheck = Boolean.FALSE; + log.warn("sick ocr error:{}", trayCode); + } + } else { + if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) { + trayCode = "扫码枪识别异常"; + trayGoodCheck = Boolean.FALSE; + log.warn("sick ocr error:{}", trayCode); + } else { + //扫到就认为正常 + trayGoodCheck = Boolean.TRUE; + } } } + }else if(configProperties.getScanCodeMode().getGoods() == 3){ + Set tags = new HashSet<>(); + try { + RFIDCheck(plcCmdInfo, true); + Thread.sleep(1000 * configProperties.getRfid().getScanTime()); + } catch (Exception e) { + e.printStackTrace(); + } finally { + tags = RFIDStop(plcCmdInfo); + log.info("盘点rfid扫描结果：" + tags); + } + if (tags !=null && tags.contains(wmsTrayCode)) { + //托盘码为空，无货物 + //只要扫码枪未识别出条码，即认为盘点正确 + trayCode = wmsTrayCode; + trayGoodCheck = Boolean.TRUE; + + } else { + trayCode = trayCode+ "扫码枪识别异常"; + trayGoodCheck = Boolean.FALSE; + log.warn("rfid error:{}", trayCode); + } } - log.info("code:{}",scanCode); + + + OrderInfo orderInfo = new OrderInfo(street, plcCmdInfo, 1, cmdCode); + Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(orderInfo.getStreetId(), plcCmdInfo.getLeftRight1(), orderInfo.getSeparation(), orderInfo.getRow(), orderInfo.getColumn()); + String scanCode = null; + + //货物使用球机扫码 + + log.info("code:{}", scanCode); //核对异常 Integer status = 1; //托盘和货物都正确 - if(trayCheck && codeCheck){ + if (trayCheck && trayGoodCheck ) { status = 2; } - if(stock == null){ - stock = new Stock(null,null,plcCmdInfo.getOrderNum(),plcCmdInfo.getLotnum(),scanCode, null,null,wmsCode,null,null,wmsTrayCode,trayCode,orderInfo.getShelveId(),orderInfo.getRow(),orderInfo.getColumn(),status,null,null,path, LocalDateTime.now()); + if (stock == null) { + stock = Stock.builder() + .checkNum(plcCmdInfo.getOrderNum()) + .lotnum(plcCmdInfo.getLotnum()) + .code(scanCode) + .wmsCode(wmsCode) + .wmsTrayCode(wmsTrayCode) + .trayCode(trayCode) + .streetId(orderInfo.getStreetId()) + .direction(plcCmdInfo.getLeftRight1()) + .side(orderInfo.getSeparation()) + .row(orderInfo.getRow()) + .column(orderInfo.getColumn()) + .status(status) + .checkPic(path) + .exportTime(LocalDateTime.now()).build(); stockMapper.insert(stock); - }else { + } else { stock.setStatus(status); stock.setLotnum(plcCmdInfo.getLotnum()); stock.setExportTime(LocalDateTime.now()); @@ -788,10 +847,12 @@ public class PlcService { checkLog(stock); // StockCheckRunnable stockCheckRunnable = new StockCheckRunnable(street,plcCmdInfo,cmdCode,stockMapper,path,checkLogMapper,configProperties.getScanCodeMode().getGoods(),wmsCode,wmsTrayCode,trayCode,trayCheck,configProperties,sensorGun); // threadPoolExecutor.execute(stockCheckRunnable); - + //还原相机 + gyrateCameraByCode(cameraId, "C5"); long end = System.currentTimeMillis(); long s = end - startTime; - log.info("time:{}millisecond",s); + log.info("time:{}millisecond", s); + return true; } public void checkLog(Stock stock){ @@ -827,6 +888,27 @@ public class PlcService { } } } + /** + * 根据信息开启rfid链接 + * + * @param plcCmdInfo 相关信息 + * @param fromOrTo 确定方向 + */ + public void RFIDCheck(PlcCmdInfo plcCmdInfo, boolean fromOrTo) { + log.info("开启rfid"); + Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId()); + if (street != null) { + //rfid不分左右，rfid使用同一ip和端口，依靠传递字符调整方向 + RFID rfid = rfidService.getRFIDByPlc(street.getId()); + if (rfid != null) { + if (fromOrTo) { + RFIDStart(rfid.getIp(), rfid.getPort(), street.getId(), plcCmdInfo.getLeftRight1()); + } else + RFIDStart(rfid.getIp(), rfid.getPort(), street.getId(), plcCmdInfo.getLeftRight1()); + } + } + } + public void RFIDStart(String ip, Integer port, Integer streetId, Integer direction) { RFIDSocket rfidSocket = new RFIDSocket(ip, port); diff --git a/web/src/main/java/com/zhehekeji/web/service/sick/SickSocket.java b/web/src/main/java/com/zhehekeji/web/service/sick/SickSocket.java index 04f63e6..9bb1f30 100644 --- a/web/src/main/java/com/zhehekeji/web/service/sick/SickSocket.java +++ b/web/src/main/java/com/zhehekeji/web/service/sick/SickSocket.java @@ -19,7 +19,7 @@ public class SickSocket { private static final Logger tcpLogger = LoggerFactory.getLogger("sick"); public static void main(String[] args) { - String code = readOCR("192.168.5.10", 2002); + String code = readOCR("127.0.0.1", 2002); System.out.println(code); }