增加视觉连接

测试球机

web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java

@@ -44,6 +44,10 @@ public class ConfigProperties {
      */
     private Integer serverPort;
 
+    private boolean inventorySimulationFollow = false;
+
+    private Long queueSpanTime = 5000L;
+
     @Data
     public static class CameraConfig{
 

web/src/main/java/com/zhehekeji/web/entity/CheckLog.java

@@ -12,6 +12,8 @@ import java.time.LocalDateTime;
 @Data
 public class CheckLog {
 
+    @TableId(type = IdType.AUTO)
+    private Integer id;
 
     private Integer streetId;
 
@@ -33,8 +35,13 @@ public class CheckLog {
     private String wmsCode;
 
     private String category;
+    private String taskId;
 
     private Integer count;
+    private Integer wmsCount;
+    private String wmsCategory;
+
+    private int statusVision = 0;
 
     private String checkNum;
 
@@ -44,10 +51,6 @@ public class CheckLog {
     @ApiModelProperty("扫描出的托盘码")
     private String trayCode;
 
-    private Integer status;
-
-
-    private String pic;
 
     private String lotnum;
 
@@ -56,5 +59,10 @@ public class CheckLog {
 
     @JsonFormat(pattern="yyyy-MM-dd HH:mm:ss")
     private LocalDateTime createTime;
+    private Integer status;
+
+    private String pic;
+    @TableField(exist=false)
+    private String[] pics;
 
 }

web/src/main/java/com/zhehekeji/web/entity/Stock.java

@@ -25,6 +25,7 @@ public class Stock {
 
     @ApiModelProperty("随行任务号")
     private String orderNum;
+    private int statusVision =0;
 
     @ApiModelProperty("盘点任务号")
     private String checkNum;
@@ -91,4 +92,5 @@ public class Stock {
     private String streetName;
 
 
+    private String pcd;//点位文件路径
 }

web/src/main/java/com/zhehekeji/web/lib/CameraControlModule.java

@@ -108,6 +108,7 @@ public interface CameraControlModule {
     boolean ptzControlIrisDecEnd(Integer cameraId, int nChannelID);
 
     boolean pic(Integer cameraId, int channel, String realPath);
+    boolean pic(int cameraId, int channel, String realPath);
 
     void downloadMp4(Integer cameraId, String path, LocalDateTime start, LocalDateTime end);
 

web/src/main/java/com/zhehekeji/web/lib/CameraDelayTask.java

@@ -30,10 +30,19 @@ public class CameraDelayTask implements Delayed {
 
    private long executeTime;
 
+    private String cameraPlcId;
    private long delayTime;
 
    private Integer ptzId;
 
+    public CameraDelayTask(String cameraPlcId, String command, long delayTime,TransmissionPojo transmissionPojo) {
+        this.cameraPlcId = cameraPlcId;
+        this.command = command;
+        this.executeTime = System.currentTimeMillis()+delayTime;
+        this.delayTime = delayTime;
+
+        this.transmissionPojo = transmissionPojo;
+    }
     public CameraDelayTask(Integer cameraId, LocalDateTime startTime, LocalDateTime endTime, String path, Integer type, long delayTime) {
         this.cameraId = cameraId;
         this.startTime = startTime;

web/src/main/java/com/zhehekeji/web/lib/hik/HikCameraControlModuleImpl.java

@@ -289,7 +289,19 @@ public class HikCameraControlModuleImpl implements CameraControlModule {
 
         return picResult;
     }
+    public boolean pic(int cameraId, int nChannelID, String path)
+    {
+        int lUserId = cameraId;
+        short wPicSize = 3;
+        short wPicQuality = 0;
+        HCNetSDK.NET_DVR_JPEGPARA jpegpara = new HCNetSDK.NET_DVR_JPEGPARA(wPicSize, wPicQuality);
+        boolean picResult = HikLoginModuleImpl.hcNetsdk.NET_DVR_CaptureJPEGPicture(lUserId, 1, jpegpara, path);
+        if (!picResult) {
+            log.error("pic error:{},cameraId:{}", HikLoginModuleImpl.hcNetsdk.NET_DVR_GetLastError(),cameraId);
+        }
 
+        return picResult;
+    }
     public void downloadMp4(Integer cameraId, String path, LocalDateTime start, LocalDateTime end) {
 
         PathUtil.checkDirc(path);

web/src/main/java/com/zhehekeji/web/lib/hik/HikExceptionCallBack.java

@@ -10,15 +10,22 @@ public class HikExceptionCallBack implements HCNetSDK.FExceptionCallBack {
 
     @Override
     public void invoke(int dwType, int lUserID, int lHandle, Pointer pUser) {
-        Integer cameraId =CameraConnMap.getCameraIdByLoginId(new NetSDKLib.LLong(lUserID));
+        NetSDKLib.LLong lLong = new NetSDKLib.LLong(lUserID);
-        if(dwType == 32768){
+        Integer cameraId =CameraConnMap.getCameraIdByLoginId(lLong);
+        if(dwType == 0x8000){
+            if(cameraId != null) {
+                log.error("hik disconnect,cameraId:{}", cameraId);
 
-            log.error("hik disconnect,cameraId:{}", cameraId);
+            }
-        }else if(dwType == 32791){
+        }else if(dwType == 0x8017){
 
-            log.info("hik reconnect,cameraId:{}", CameraConnMap.getCameraIdByLoginId(new NetSDKLib.LLong(lUserID)));
+            log.info("hik reconnect,cameraId:{}", cameraId);
-        }
 
+            if(!lLong.equals(CameraConnMap.getConnId(cameraId))) {
+                log.error("hik reconnect,cameraId:{},lUserId:{}", cameraId,lLong);
+                CameraConnMap.conn(cameraId, new NetSDKLib.LLong(lUserID));
+            }
+        }
     }
 
 }

web/src/main/java/com/zhehekeji/web/lib/joyware/JoywareCameraControlModuleImpl.java

@@ -277,6 +277,11 @@ public class JoywareCameraControlModuleImpl implements CameraControlModule {
         return ok;
     }
 
+    @Override
+    public boolean pic(int cameraId, int channel, String realPath) {
+        return false;
+    }
+
     public void downloadMp4(Integer cameraId, String path, LocalDateTime start, LocalDateTime end) {
 
         PathUtil.checkDirc(path);

web/src/main/java/com/zhehekeji/web/service/CameraService.java

@@ -12,6 +12,8 @@ import com.zhehekeji.web.entity.CameraIOConfig;
 import com.zhehekeji.web.lib.CameraConnMap;
 import com.zhehekeji.web.lib.CameraControlLoginModule;
 import com.zhehekeji.web.lib.CameraControlModule;
+import com.zhehekeji.web.lib.TaskDelayExecutor;
+import com.zhehekeji.web.lib.hik.HikCameraControlModuleImpl;
 import com.zhehekeji.web.lib.hik.HikLoginModuleImpl;
 import com.zhehekeji.web.lib.joyware.JoywareLoginModuleImpl;
 import com.zhehekeji.web.lib.joyware.NetSDKLib;
@@ -24,6 +26,7 @@ import com.zhehekeji.web.pojo.camera.IOImport;
 import com.zhehekeji.web.pojo.street.StreetSearch;
 import io.swagger.models.auth.In;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
 import org.springframework.cache.annotation.CacheEvict;
 import org.springframework.cache.annotation.Cacheable;
 import org.springframework.dao.DuplicateKeyException;
@@ -36,6 +39,7 @@ import java.io.IOException;
 import java.time.LocalDateTime;
 import java.util.HashMap;
 import java.util.List;
+import java.util.UUID;
 import java.util.concurrent.CountDownLatch;
 import java.util.stream.Collectors;
 
@@ -348,6 +352,50 @@ public class CameraService {
         }
     }
 
+    public static void main(String[] args) {
+        Camera camera = new Camera();
+        camera.setIp("192.168.1.64");
+        camera.setPort(8000);
+        camera.setUser("admin");
+        camera.setPassword("a1234567");
+
+        CameraControlLoginModule cameraControlLoginModule = new HikLoginModuleImpl();
+
+         CameraControlModule cameraControlModule = new HikCameraControlModuleImpl();
+//
+        NetSDKLib.LLong lLong = cameraControlLoginModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
+        NetSDKLib.LLong lLong1 = cameraControlLoginModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
+        NetSDKLib.LLong lLong2 = cameraControlLoginModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
+        NetSDKLib.LLong lLong3 = cameraControlLoginModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
+
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        cameraControlModule.pic(lLong.intValue(),0 ,"E:/"+ UUID.randomUUID() +".jpg");
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        cameraControlModule.pic(lLong1.intValue(),0 ,"E:/"+ UUID.randomUUID() +".jpg");
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        cameraControlModule.pic(lLong2.intValue(),0 ,"E:/"+ UUID.randomUUID() +".jpg");
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        cameraControlModule.pic(lLong3.intValue(),0 ,"E:/"+ UUID.randomUUID() +".jpg");
+
+
+    }
+
     public void cameraLogin(Camera camera){
         NetSDKLib.LLong lLong = cameraControlLoginModule.login(camera.getIp(),camera.getPort(),camera.getUser(),camera.getPassword());
         if(lLong != null){

web/src/main/java/com/zhehekeji/web/service/InitService.java

@@ -13,6 +13,7 @@ import com.zhehekeji.web.lib.joyware.NetSDKLib;
 import com.zhehekeji.web.mapper.CameraMapper;
 import com.zhehekeji.web.mapper.SensorGunMapper;
 import com.zhehekeji.web.mapper.StreetMapper;
+import com.zhehekeji.web.service.client.GetPhotoDelayExecutor;
 import com.zhehekeji.web.service.client.NettyServer;
 import com.zhehekeji.web.service.ksec.KsecNettyClient;
 import com.zhehekeji.web.service.robotic.NettyClient;
@@ -87,6 +88,8 @@ public class InitService implements ApplicationRunner {
 
         //球机登录
         List<Camera> cameras = cameraMapper.selectByMap(new HashMap<>(0));
+
+        List<Street> streets = streetMapper.selectByMap(new HashMap<>());
         cameras.forEach(camera -> {
             LoginThread loginThread = new LoginThread(camera);
             loginThread.start();
@@ -96,7 +99,6 @@ public class InitService implements ApplicationRunner {
         if(configProperties.getServerMode() == 0){
             log.info("PLC TCP MODE");
             //plc 连接状态初始化
-            List<Street> streets = streetMapper.selectByMap(new HashMap<>(0));
 
             streets.forEach(street -> {
                 StreetConn.init(street.getId(),street.getPlcId());
@@ -123,6 +125,7 @@ public class InitService implements ApplicationRunner {
             }
         }
         TaskDelayExecutor.runMp4DownloadExecutor();
+        GetPhotoDelayExecutor.runExecutor(streets);
     }
 
     class LoginThread extends Thread{

web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java

@@ -69,6 +69,8 @@ public class PlcCmdInfo {
 
     private Integer times;
 
+    private String code;
+
     private String lotnum;
 
     private Integer streetId;

web/src/main/java/com/zhehekeji/web/service/PlcService.java

@@ -11,6 +11,7 @@ import com.zhehekeji.web.lib.*;
 import com.zhehekeji.web.mapper.*;
 import com.zhehekeji.web.pojo.CameraPtzPojo;
 import com.zhehekeji.web.pojo.OrderVO;
+import com.zhehekeji.web.pojo.stock.StockStatus;
 import com.zhehekeji.web.service.RFID.RFIDMap;
 import com.zhehekeji.web.service.RFID.RFIDSocket;
 import com.zhehekeji.web.service.RFID.RFIDSocketFactory;
@@ -41,6 +42,7 @@ import java.util.concurrent.ThreadPoolExecutor;
 import java.util.concurrent.TimeUnit;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
+import java.util.stream.Collectors;
 
 import static org.aspectj.weaver.tools.cache.SimpleCacheFactory.path;
 
@@ -652,7 +654,26 @@ public class PlcService {
     public Boolean check(PlcCmdInfo plcCmdInfo,String cmdCode,String wmsCode,String wmsTrayCode,String wmsCatagary){
 
         long startTime = System.currentTimeMillis();
+
         Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId());
+
+        //开始盘点具体货位
+        CheckLog checkLog = new CheckLog();
+        checkLog.setStreetId(street.getId());
+        checkLog.setLotnum(plcCmdInfo.getLotnum());
+        checkLog.setDirection(plcCmdInfo.getLeftRight1());
+        checkLog.setSide(plcCmdInfo.getSide1());
+        checkLog.setRow(plcCmdInfo.getRow1());
+        checkLog.setColumn(plcCmdInfo.getColumn1());
+        checkLog.setWmsCode(plcCmdInfo.getCode());
+
+        checkLog.setTaskId((plcCmdInfo.getTaskId()));
+        //默认未盘点
+        checkLog.setStatus(StockStatus.PENDING.getStatus());
+        checkLog.setCreateTime(LocalDateTime.now());
+        checkLog.setWmsCategory(plcCmdInfo.getTypeNum());
+        checkLog.setWmsCount(plcCmdInfo.getQuantity());
+
         CronTab.putTime(street.getId());
         List<LightSource> lightSources = lightSourceMapper.selectList(new QueryWrapper<LightSource>().eq("street_id",street.getId()));
         lightSources.forEach(lightSource -> {
@@ -680,76 +701,26 @@ public class PlcService {
 
 
         String path = PathUtil.createFileNameByRowColumn("jpg", cameraId, plcCmdInfo.getRow1(), plcCmdInfo.getColumn1());
+
         try {
 
             cameraCapture(cameraId, false, null, path);
         } catch (NullPointerException e) {
             log.error("相机{}未连接无法拍照", cameraId);
         }
+
+        checkLog.setPic(path);
+        checkLogMapper.insert(checkLog);
         //托盘码
         String trayCode = null;
         Boolean trayCheck = Boolean.TRUE;
         //扫托盘码
-        if(configProperties.getScanCodeMode().getTray() == 2) {
+        trayCheck = scan(configProperties.getScanCodeMode().getTray(),street,plcCmdInfo,checkLog,trayCode);
-            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)) {
-                    //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 = "无货物";
-                        trayCheck = Boolean.TRUE;
-                    } else {
-                        trayCode = "扫码枪识别异常";
-                        trayCheck = Boolean.FALSE;
-                        log.warn("sick ocr error:{}", trayCode);
-                    }
-                } 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 {
-                        //扫到就认为正常
-                        trayCheck = Boolean.TRUE;
-                    }
-                }
-            }
-        }else if(configProperties.getScanCodeMode().getTray() == 3){
-            //扫到的码
-            Set<String> 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);
 
-            }
 
-        }
+        String trayGoodCode = null;
-        Boolean  trayGoodCheck = Boolean.TRUE;
+        Boolean  trayGoodCheck = scan(configProperties.getScanCodeMode().getGoods(),street,plcCmdInfo,checkLog,trayGoodCode);
 
         OrderInfo orderInfo = new OrderInfo(street, plcCmdInfo, 1, cmdCode);
         //扫货物
@@ -786,7 +757,8 @@ public class PlcService {
                     }
                 }
             }
-        }else if(configProperties.getScanCodeMode().getGoods() == 3){
+        }else
+            if(configProperties.getScanCodeMode().getGoods() == 3){
             Set<String> tags = new HashSet<>();
             try {
                 RFIDCheck(plcCmdInfo, true);
@@ -809,31 +781,49 @@ public class PlcService {
                 log.warn("rfid error:{}", trayCode);
 
             }
-        }else if (configProperties.getScanCodeMode().getGoods() == 4){
+        }else
-            //开始盘点
+            if (configProperties.getScanCodeMode().getGoods() == 4){
-            String goodLocation = orderInfo.getStreetId().toString()+"_"+ plcCmdInfo.getLeftRight1().toString()+"_"+ orderInfo.getSeparation().toString()+"_"+ orderInfo.getRow().toString()+"_"+ orderInfo.getColumn();
+            TransmissionPojo transmissionPojo = new TransmissionPojo(checkLog, street);
-            SCTransmission scTransmission = new SCTransmission(street.getPlcId(),plcCmdInfo.getTaskId(),goodLocation,plcCmdInfo.getTypeNum(), plcCmdInfo.getQuantity(), "N");
+            if (ClientChanel.get(plcCmdInfo.getPlcId()) != null) {
-
+                ClientChanel.get(plcCmdInfo.getPlcId()).writeAndFlush(transmissionPojo.toString(TransmissionType.ST));
-            String scTransmissionStr = scTransmission.toString();
+            } else {
-            ClientChanel.write(scTransmissionStr,street.getPlcId());
+                log.error("未找到对应plc" + transmissionPojo.toString());
+            }
+            //取货完成进行拍照
             try {
-                Thread.sleep(500);
+                Thread.sleep(50L);
+                //不为其他状态进入队列
+                if (lock.tryLock()) {
+                    //队列中没有任务，发送取图指令
+                    //只采用队列，队列中有数据则自动发送
+                    //模拟随行
+                    if (configProperties.isInventorySimulationFollow() ) {
+                        TransmissionPojo transmissionPojoFollow = new TransmissionPojo(street, transmissionPojo.getRow(),transmissionPojo.getColumn(),transmissionPojo.getDirection(), "");
+                        String s = (transmissionPojoFollow).toString(TransmissionType.GPS);
+
+                        //放置到队列中，等待取图返回后删除
+                        GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), s, configProperties.getQueueSpanTime(),transmissionPojoFollow);
+
+
+                    }
+                    //放置到队列中，等待取图返回后删除
+                    GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), transmissionPojo.toString(TransmissionType.GPS), configProperties.getQueueSpanTime(),transmissionPojo);
+                }
+
             } catch (InterruptedException e) {
-                throw new RuntimeException(e);
+                log.error("取图命令 error", e);
+            } finally {
+                lock.unlock();
+                log.info("盘点完成");
             }
-            //滁州开始盘点即取货到位
-
-            SCTransmission scTransmission2 = new SCTransmission(street.getPlcId(),plcCmdInfo.getTaskId());
-            String scTransmissionStr2 = scTransmission2.toSC02String();
-            ClientChanel.write(scTransmissionStr2,street.getPlcId());
         }
 
-
         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
 
+        checkLog.setTrayCode(trayCode);
         log.info("code:{}", scanCode);
         //核对异常
         Integer status = 1;
@@ -841,6 +831,8 @@ public class PlcService {
         if (trayCheck && trayGoodCheck ) {
             status = 2;
         }
+        checkLog.setStatus(status);
+        checkLogMapper.updateById(checkLog);
         if (stock == null) {
             stock = Stock.builder()
                     .checkNum(plcCmdInfo.getOrderNum())
@@ -872,47 +864,115 @@ public class PlcService {
         }
 //        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;
+        long timeLong = end - startTime;
-        log.info("time:{}millisecond", s);
+        log.info("time:{}millisecond", timeLong);
-        TransmissionPojo transmissionPojo = new TransmissionPojo(checkLog, street);
-        if (ClientChanel.get(dataInfo.getSRMNumber()) != null) {
-            ClientChanel.get(dataInfo.getSRMNumber()).writeAndFlush(transmissionPojo.toString(TransmissionType.ST));
-        } else {
-            log.error("未找到对应plc" + transmissionPojo.toString());
-        }
-        //取货完成进行拍照
-        try {
-            Thread.sleep(50L);
-            //不为其他状态进入队列
-            if (lock.tryLock()) {
-                //队列中没有任务，发送取图指令
-                //只采用队列，队列中有数据则自动发送
-                //模拟随行
-                if (configProperties.isInventorySimulationFollow() ) {
-                    TransmissionPojo transmissionPojoFollow = new TransmissionPojo(street, transmissionPojo.getRow(),transmissionPojo.getColumn(),transmissionPojo.getDirection(), "");
-                    String s = (transmissionPojoFollow).toString(TransmissionType.GPS);
 
-                    //放置到队列中，等待取图返回后删除
+        return true;
-                    GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), s, configProperties.getQueueSpanTime(),transmissionPojoFollow);
+    }
 
+    Boolean scan(int type ,Street street, PlcCmdInfo plcCmdInfo,CheckLog checkLog ,String trayCode){
+        Boolean checkBoolean = true;
+        if(type == 2) {
 
+            checkBoolean = Boolean.FALSE;
+            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";
+                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(plcCmdInfo.getCode())) {
+                    //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 = "";
+                        checkBoolean = Boolean.TRUE;
+                    } else {
+                        trayCode = "扫码枪识别异常";
+                        checkBoolean = Boolean.FALSE;
+                        log.warn("sick ocr error:{}", trayCode);
+                    }
+                } else {
+                    if (StringUtils.isEmpty(trayCode) || trayCode.equals("NoRead")) {
+                        trayCode = "扫码枪识别异常";
+                        checkBoolean = Boolean.FALSE;
+                        log.warn("sick ocr error:{}", trayCode);
+                    } else {
+                        //扫到就认为正常
+                        checkBoolean = Boolean.TRUE;
+                    }
                 }
-                //放置到队列中，等待取图返回后删除
-                GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), transmissionPojo.toString(TransmissionType.GPS), configProperties.getQueueSpanTime(),transmissionPojo);
             }
+        }else
+        if(type == 3){
+            Set<String> 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(plcCmdInfo.getCode())) {
+                //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 = plcCmdInfo.getCode();
+                checkBoolean = Boolean.TRUE;
+
+            } else {
+                trayCode = trayCode+ "扫码枪识别异常";
+                checkBoolean = Boolean.FALSE;
+                log.warn("rfid error:{}", trayCode);
+
+            }
+        }else
+        if (type == 4){
+            TransmissionPojo transmissionPojo = new TransmissionPojo(checkLog, street);
+            if (ClientChanel.get(plcCmdInfo.getPlcId()) != null) {
+                ClientChanel.get(plcCmdInfo.getPlcId()).writeAndFlush(transmissionPojo.toString(TransmissionType.ST));
+            } else {
+                log.error("未找到对应plc" + transmissionPojo.toString());
+            }
+            //取货完成进行拍照
+            try {
+                Thread.sleep(50L);
+                //不为其他状态进入队列
+                if (lock.tryLock()) {
+                    //队列中没有任务，发送取图指令
+                    //只采用队列，队列中有数据则自动发送
+                    //模拟随行
+                    if (configProperties.isInventorySimulationFollow() ) {
+                        TransmissionPojo transmissionPojoFollow = new TransmissionPojo(street, transmissionPojo.getRow(),transmissionPojo.getColumn(),transmissionPojo.getDirection(), "");
+                        String s = (transmissionPojoFollow).toString(TransmissionType.GPS);
 
-        } catch (InterruptedException e) {
+                        //放置到队列中，等待取图返回后删除
-            log.error("取图命令 error", e);
+                        GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), s, configProperties.getQueueSpanTime(),transmissionPojoFollow);
-        } finally {
+
-            lock.unlock();
+
-            log.info("盘点完成");
+                    }
+                    //放置到队列中，等待取图返回后删除
+                    GetPhotoDelayExecutor.addCameraDelayTask(street.getPlcId(), transmissionPojo.toString(TransmissionType.GPS), configProperties.getQueueSpanTime(),transmissionPojo);
+                }
+
+            } catch (InterruptedException e) {
+                log.error("取图命令 error", e);
+            } finally {
+                lock.unlock();
+                log.info("盘点完成");
+            }
         }
-        return true;
-    }
 
+        return checkBoolean;
+    }
     public KsecInfo getKsecDataInfo(TransmissionPojo transmissionPojo, String type) {
         KsecDataInfo ksecDataInfo = new KsecDataInfo();
         CheckLog checkLog = checkLogMapper.selectById(transmissionPojo.getCheckId());
@@ -1042,4 +1102,37 @@ public class PlcService {
         }
         checkLog(stock);
     }
+
+
+    public void visualCalculationResults(TransmissionPojo transmissionPojo) {
+        CheckLog checkLog = checkLogMapper.selectById(transmissionPojo.getCheckId());
+        Stock stock = stockMapper.selectOne(new QueryWrapper<Stock>().eq("check_Num", checkLog.getId()));
+        Street street = streetService.getStreetByPlcId(transmissionPojo.getStreetNumber());
+        if (transmissionPojo.getResult() != null && transmissionPojo.getResult() == 1) {
+            checkLog.setStatusVision(StockStatus.SUCCESS.getStatus());
+            stock.setStatusVision(StockStatus.SUCCESS.getStatus());
+        } else {
+            checkLog.setStatusVision(StockStatus.ERROR.getStatus());
+            stock.setStatusVision(StockStatus.ERROR.getStatus());
+            stock.setCount(transmissionPojo.getCount());
+            stock.setCategory(transmissionPojo.getCategory());
+        }
+
+        if (transmissionPojo.getPcd() != null && !"".equals(transmissionPojo.getPcd())) {
+            stock.setPcd("http://" + street.getPlcIp() + ":8007" + transmissionPojo.getPcd());
+        }
+        if (transmissionPojo.getPicsPath() != null && transmissionPojo.getPicsPath().size() > 0) {
+
+            String pics = transmissionPojo.getPicsPath().stream().map(v -> {
+                return "http://" + street.getPlcIp() + ":8007" + v;
+            }).collect(Collectors.joining(";"));
+            checkLog.setPic(pics);
+            stock.setCheckPic(pics);
+        }
+        checkLogMapper.updateById(checkLog);
+        stockMapper.updateById(stock);
+    }
+
+    public void saveFollowPhoto(TransmissionPojo transmissionPojo) {
+    }
 }

web/src/main/java/com/zhehekeji/web/service/client/Decoder.java

@@ -1,11 +1,9 @@
 package com.zhehekeji.web.service.client;
 
 import com.zhehekeji.web.lib.CameraDelayTask;
-import com.zhehekeji.web.service.EmptyCheckService;
 import com.zhehekeji.web.service.PlcService;
 import com.zhehekeji.web.service.ksec.KsecInfo;
 import com.zhehekeji.web.service.ksec.KsecNettyClient;
-import com.zhehekeji.web.service.putian.*;
 import io.netty.buffer.ByteBuf;
 import io.netty.buffer.Unpooled;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +41,15 @@ public class Decoder extends DelimiterBasedFrameDecoder {
 
     private static ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(5,15,30, TimeUnit.MILLISECONDS,new ArrayBlockingQueue<>(20000));
 
-    private EmptyCheckService emptyCheckService;
+
 
     private PlcService plcService;
 
-    public Decoder(PlcService plcService,EmptyCheckService emptyCheckService) {
+    public Decoder(PlcService plcService) {
 
         super(20000,true,false, Unpooled.copiedBuffer(">".getBytes()),
                 Unpooled.copiedBuffer("$".getBytes()));
         this.plcService = plcService;
-        this.emptyCheckService = emptyCheckService;
     }
 
     @Override
@@ -63,7 +60,7 @@ public class Decoder extends DelimiterBasedFrameDecoder {
             log.debug("no data");
             return null;
         }
-        ClientRunnable clientRunnable = new ClientRunnable(in,ctx,plcService,emptyCheckService);
+        ClientRunnable clientRunnable = new ClientRunnable(in,ctx,plcService);
         threadPoolExecutor.execute(clientRunnable);
         return null;
     }
@@ -76,13 +73,11 @@ public class Decoder extends DelimiterBasedFrameDecoder {
 
         private PlcService plcService;
 
-        private EmptyCheckService emptyCheckService;
 
-        public ClientRunnable(ByteBuf in,ChannelHandlerContext ctx,PlcService plcService,EmptyCheckService emptyCheckService){
+        public ClientRunnable(ByteBuf in,ChannelHandlerContext ctx,PlcService plcService){
             this.ctx = ctx;
             this.in = in;
             this.plcService = plcService;
-            this.emptyCheckService = emptyCheckService;
         }
 
         @Override

web/src/main/java/com/zhehekeji/web/service/client/GetPhotoDelayExecutor.java

@@ -52,6 +52,7 @@ public class GetPhotoDelayExecutor {
             cameraDelayTaskMap.put(plcId,new DelayQueue<>());
             cameraDelayTaskMap.get(plcId).add(cameraDelayTask);
         }
+
         delayTasks.add(cameraDelayTask);
     }
 

web/src/main/java/com/zhehekeji/web/service/client/NettyServer.java

@@ -1,6 +1,5 @@
 package com.zhehekeji.web.service.client;
 
-import com.zhehekeji.web.service.EmptyCheckService;
 import com.zhehekeji.web.service.PlcService;
 import io.netty.bootstrap.ServerBootstrap;
 import io.netty.channel.ChannelFuture;
@@ -20,8 +19,6 @@ public class NettyServer {
     @Resource
     private PlcService plcService;
 
-    @Resource
-    private EmptyCheckService emptyCheckService;
 
     public void CreateNettyServer(int port) throws InterruptedException {
         Thread thread = new Thread(new Runnable() {
@@ -42,7 +39,7 @@ public class NettyServer {
                                 @Override
                                 public void initChannel(SocketChannel ch) {
                                     ch.pipeline().addLast(new NettyConnectHandler());
-                                    ch.pipeline().addLast(new Decoder(plcService,emptyCheckService));
+                                    ch.pipeline().addLast(new Decoder(plcService));
                                     ch.pipeline().addLast(new Encoder());
                                 }}); // 子处理器，用于处理workerGroup
 

web/src/main/java/com/zhehekeji/web/service/client/TransmissionPojo.java

@@ -35,9 +35,9 @@ public class TransmissionPojo {
         this.row = checkLog.getRow();
         this.column = checkLog.getColumn();
         this.direction = checkLog.getDirection();
-        this.count = checkLog.getCount();
+        this.count = checkLog.getWmsCount();
         if(checkLog.getCategory() != null && checkLog.getCategory().contains("/")) {
-            this.category = checkLog.getCategory().split("/")[0];
+            this.category = checkLog.getWmsCategory().split("/")[0];
         }else {
             this.category = checkLog.getCategory();
         }

web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java

@@ -103,6 +103,12 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                     plcCmdInfo.setQuantity(dataInfo.getQuantity());
                     srmNumber = dataInfo.getSRMNumber();
                     cmdName = dataInfo.getCmdName();
+                    if(dataInfo.getCode()!=null && !"".equals(dataInfo.getCode())){
+                        plcCmdInfo.setCode(dataInfo.getCode());
+                    }else if(dataInfo.getTrayCode()!=null && !"".equals(dataInfo.getTrayCode())){
+                        plcCmdInfo.setCode(dataInfo.getTrayCode());
+                    }
+
                 }
                 if (Cmd.A.name().equals(ksecInfo.getType())) {
                     //心跳
@@ -193,7 +199,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                     plcCmdInfo.setTimes(1);
                     ksecInfoMap.put(dataInfo.getTaskId(),dataInfo);
 
-                    Boolean ok = plcService.check(plcCmdInfo,ksecInfo.getData().getCmdName(), dataInfo.getCode(), dataInfo.getTrayCode(), dataInfo.getLotnum());
+                    Boolean ok = plcService.check(plcCmdInfo,ksecInfo.getData().getCmdName(), plcCmdInfo.getCode(), plcCmdInfo.getCode(), dataInfo.getLotnum());
 //                    Boolean ok = true;
                     if(ok){
                         ksecInfo.getData().setAckStatus(1);

web/src/main/resources/application-prod.yml

@@ -19,7 +19,7 @@ spring:
     validationQuery: SELECT 1 FROM DUAL
 # --------本服务端口号
 server:
-  port: 8099
+  port: 8098
 #--------------
 # ------用户中心地址
 userUrl: http://115.236.65.98:11001
@@ -31,7 +31,6 @@ cameraConfig:
   cameraPassword: a1234567
   cameraUser: admin
   cameraPort: 8000
-  videoServer: 127.0.0.1:8083
   #相机抓图延迟 毫秒,这个延迟是等待球机球机转动到位，然后拍照的
   delayCaptureTime: 3500
   #随行模式下的相机抓图延迟 毫秒,这个延迟是等待球机球机转动到位，然后拍照的
@@ -87,7 +86,7 @@ lightSource:
 # -----goods 货物
 # 扫码模式  0:此处不盘点  1：球机扫码   2：sick扫码枪  3:南北达RFID  4.南京视觉客户端（只支持货物盘点）
 scanCodeMode:
-  tray: 3
+  tray: 2
   goods: 4
   goodsCodeTypes:
     - 14