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剪式 臂式ctu调度逻辑分离

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This commit is contained in:
liuhanqing
2025-07-04 17:58:12 +08:00
parent a26319dbd6
commit 07b3d4f0a4
6 changed files with 456 additions and 22 deletions
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13
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/InSsjThread.java → ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java
View File

@@ -1,15 +1,15 @@
package com.ruoyi.schedule.scheduleTask.ssj;
package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
@@ -20,12 +20,11 @@ import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
@Slf4j
@Component
public class InSsjThread {
public class BsInSsjThread {
public HashMap<String, List<String>> ssjCodeList;
@@ -39,6 +38,10 @@ public class InSsjThread {
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1003");
ssjCodes.add("G1009");
ssjCodeList.put("in", ssjCodes);
}
public void run() {

45
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/OutSsjThread.java → ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java
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@@ -1,4 +1,4 @@
package com.ruoyi.schedule.scheduleTask.ssj;
package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.device.agv.domain.AgvQueue;
@@ -17,12 +17,11 @@ import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
@Slf4j
@Component
public class OutSsjThread {
public class BsOutSsjThread {
public HashMap<String, List<String>> ssjCodeList;
@@ -34,25 +33,39 @@ public class OutSsjThread {
@PostConstruct
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1004");
ssjCodes.add("G1010");
ssjCodeList.put("ssjOut", ssjCodes);
}
public void run() {
for (String type : ssjCodeList.keySet()) {
if ("out".equals(type)) {
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
outDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
switch (type){
case "ssjOut":
//正常输送线出口
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
ssjOutDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}
}
break;
case "fluentOut":
//流利架出口
break;
}
}
}
public void outDispatch(DeviceSsj outSsjDevice) {
/**
* 输送线出口
* @param outSsjDevice
*/
public void ssjOutDispatch(DeviceSsj outSsjDevice) {
//输送线出库
if (outSsjDevice.getKx()==1){
//查询对应的作业
@@ -78,8 +91,14 @@ public class OutSsjThread {
log.info("ssjCode:{},没有待下发的出库任务", outSsjDevice.getDeviceCode());
}
}
}
/**
* 流利架出口
* @param outSsjDevice
*/
public void fluentOutDispatch(DeviceSsj outSsjDevice) {
//查询流利架货位是否
}
/**

9
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/PickSsjTread.java → ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java
View File

@@ -1,4 +1,4 @@
package com.ruoyi.schedule.scheduleTask.ssj;
package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.device.agv.service.IAgvQueueService;
@@ -16,12 +16,11 @@ import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
@Slf4j
@Component
public class PickSsjTread {
public class BsPickSsjTread {
public HashMap<String, List<String>> ssjCodeList;
@@ -33,8 +32,10 @@ public class PickSsjTread {
@PostConstruct
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
//流利架
ssjCodeList.put("pick", ssjCodes);
}

185
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsInSsjThread.java Normal file
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@@ -0,0 +1,185 @@
package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
@Component
public class JsInSsjThread {
public HashMap<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
@PostConstruct
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G2012");
ssjCodes.add("G3009");
ssjCodes.add("G3018");
ssjCodes.add("G4009");
ssjCodes.add("G4018");
ssjCodes.add("G5009");
ssjCodes.add("G5018");
ssjCodeList.put("in", ssjCodes);
}
public void run() {
for (String type : ssjCodeList.keySet()) {
if ("in".equals(type)) {
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
inDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}
}
}
}
public void inDispatch(DeviceSsj inSsjDevice) {
//如果入库请求1 并且 托盘码不为空
if (inSsjDevice.getRkqq() == 1 && StrUtil.isNotEmpty(inSsjDevice.getTrayCode())) {
//根据入口，查询对应的入库作业
MydoJob mydoJobParam = new MydoJob();
//mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
mydoJobParam.setStatus("1");
mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
List<MydoJob> mydoJobs = apiService.getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobs)) {
MydoJob mydoJob = mydoJobs.get(0);
//修改mydojob入口
mydoJob.setEntranceId(inSsjDevice.getDeviceCode());
apiService.updateMydoJob(mydoJob);
//判断是否生成队列
AgvQueue agvQueueParam = new AgvQueue();
agvQueueParam.setWmsTaskNo(mydoJob.getTaskNo());
agvQueueParam.setPositionCode1(inSsjDevice.getDeviceCode());
agvQueueParam.setStatus("0");
List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueueParam);
if (CollUtil.isEmpty(agvQueues)) {
//生成agv队列
AgvQueue agvQueue = createAgvQueue(inSsjDevice, mydoJob);
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(mydoJob, agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
//修改mydoJob执行阶段
mydoJob.setExecutionPhase("6");
apiService.updateMydoJob(mydoJob);
}
} else {
AgvQueue agvQueue = agvQueues.get(0);
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(mydoJob, agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
//修改mydoJob执行阶段
mydoJob.setExecutionPhase("6");
apiService.updateMydoJob(mydoJob);
}
}
} else {
mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
mydoJobParam.setStatus("3");
mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
mydoJobs = apiService.getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobs)) {
log.info("trayCode:{} 入库作业正在执行中", inSsjDevice.getTrayCode());
} else {
log.info("trayCode:{} 无入库作业", inSsjDevice.getTrayCode());
}
}
}
}
/**
* 生成入库AGV队列
*
* @param ssjDevice
* @param mydoJob
* @return
*/
private AgvQueue createAgvQueue(DeviceSsj ssjDevice, MydoJob mydoJob) {
//生成ctu执行队列
AgvQueue agvQueue = new AgvQueue();
String reqCode = IdUtil.fastSimpleUUID();
agvQueue.setReqCode(reqCode);
agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
agvQueue.setAgvType("CTU");
agvQueue.setPositionCode1(mydoJob.getCargoSpaceId());
agvQueue.setPositionCode2(ssjDevice.getDeviceCode());
agvQueue.setTaskType("F01");
agvQueue.setCtnrType("0");
agvQueue.setCtnrCode("0");
agvQueue.setCtnrNum("0");
agvQueue.setTaskMode("0");
agvQueue.setPriority("10");
agvQueue.setRequest("0");
agvQueue.setWmsTraycode(mydoJob.getTrayCode());
agvQueue.setWmsTaskNo(mydoJob.getTaskNo());
agvQueue.setStatus("0");
agvQueueService.insertAgvQueue(agvQueue);
return agvQueue;
}
/**
* 请求海康生成agv任务,并修改wms任务状态
*
* @param mydoJob
* @param agvQueue
*/
private GenAgvSchedulingTaskResponse requestAgvQueue(MydoJob mydoJob, AgvQueue agvQueue) {
//请求ctu
GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setPriority("10");
genAgvSchedulingTaskRequest.setTaskTyp("F01");
genAgvSchedulingTaskRequest.setCtnrCode("0");
genAgvSchedulingTaskRequest.setCtnrNum("0");
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setTaskCode(mydoJob.getTaskNo());
genAgvSchedulingTaskRequest.setGroupId(mydoJob.getTaskNo());
genAgvSchedulingTaskRequest.setAgvTyp("CTU");
genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
return apiService.genAgvSchedulingTask(genAgvSchedulingTaskRequest);
}
}

139
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java Normal file
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@@ -0,0 +1,139 @@
package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
@Component
public class JsOutSsjThread {
public HashMap<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G2001");
ssjCodes.add("G3001");
ssjCodes.add("G3010");
ssjCodes.add("G4001");
ssjCodes.add("G4010");
ssjCodes.add("G5001");
ssjCodes.add("G5010");
ssjCodeList.put("ssjOut", ssjCodes);
}
public void run() {
for (String type : ssjCodeList.keySet()) {
switch (type){
case "ssjOut":
//正常输送线出口
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
ssjOutDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}
break;
case "fluentOut":
//流利架出口
break;
}
}
}
/**
* 输送线出口
* @param outSsjDevice
*/
public void ssjOutDispatch(DeviceSsj outSsjDevice) {
//输送线出库
if (outSsjDevice.getKx()==1){
//查询对应的作业
AgvQueue agvQueue = new AgvQueue();
agvQueue.setPositionCode2(outSsjDevice.getDeviceCode());
agvQueue.setStatus("0");
List<AgvQueue> agvQueueList = agvQueueService.selectAgvQueueList(agvQueue);
if (CollUtil.isNotEmpty(agvQueueList)){
for (AgvQueue queue : agvQueueList) {
MydoJob mydoJobParam = new MydoJob();
mydoJobParam.setTaskNo(queue.getWmsTaskNo());
mydoJobParam.setTrayCode(queue.getWmsTraycode());
mydoJobParam.setCargoSpaceId(queue.getPositionCode1());
List<MydoJob> mydoJobList = apiService.getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobList)){
MydoJob mydoJob = mydoJobList.get(0);
requestAgvQueue(mydoJob, queue);
}else {
log.info("队列 agvCode {},无对应出库作业", agvQueue.getReqCode());
}
}
}else {
log.info("ssjCode:{},没有待下发的出库任务", outSsjDevice.getDeviceCode());
}
}
}
/**
* 流利架出口
* @param outSsjDevice
*/
public void fluentOutDispatch(DeviceSsj outSsjDevice) {
//查询流利架货位是否
}
/**
* 请求海康生成agv任务,并修改wms任务状态
* @param mydoJob
* @param agvQueue
*/
private void requestAgvQueue(MydoJob mydoJob, AgvQueue agvQueue) {
//请求ctu
GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setPriority("10");
genAgvSchedulingTaskRequest.setTaskTyp("F01");
genAgvSchedulingTaskRequest.setCtnrCode("0");
genAgvSchedulingTaskRequest.setCtnrNum("0");
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setTaskCode(mydoJob.getTaskNo());
genAgvSchedulingTaskRequest.setGroupId(mydoJob.getTaskNo());
genAgvSchedulingTaskRequest.setAgvTyp("CTU");
genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.genAgvSchedulingTask(genAgvSchedulingTaskRequest);
if (genAgvSchedulingTaskResponse.getCode() == 0){
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
//修改mydoJob执行阶段
mydoJob.setExecutionPhase("6");
apiService.updateMydoJob(mydoJob);
}
}
}

87
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java Normal file
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@@ -0,0 +1,87 @@
package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.core.text.Convert;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
@Component
public class JsPickSsjTread {
public HashMap<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G5013");
ssjCodes.add("G5014");
ssjCodes.add("G5015");
ssjCodes.add("G5004");
ssjCodes.add("G5005");
ssjCodes.add("G5006");
ssjCodes.add("G4013");
ssjCodes.add("G4014");
ssjCodes.add("G4015");
ssjCodes.add("G4004");
ssjCodes.add("G4005");
ssjCodes.add("G4006");
ssjCodeList.put("pick", ssjCodes);
}
@Scheduled(fixedDelay = 5000)
public void run(){
for (String type : ssjCodeList.keySet()) {
if ("pick".equals(type)) {
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
pickDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}
}
}
}
public void pickDispatch(DeviceSsj pickSsjDevice) {
if (pickSsjDevice.getDw() == 1 && pickSsjDevice.getTaskNo() > 0){
Integer taskNo = pickSsjDevice.getTaskNo();
MydoJob mydoJobParam = new MydoJob();
mydoJobParam.setStatus("3");
mydoJobParam.setTaskNo(Convert.toStr(taskNo));
mydoJobParam.setExitId(pickSsjDevice.getDeviceCode());
List<MydoJob> mydoJobList = apiService.getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobList)){
MydoJob mydoJob = mydoJobList.get(0);
if ("4".equals(mydoJob.getExecutionPhase())){
mydoJob.setExecutionPhase("5");
apiService.updateMydoJob(mydoJob);
}
}
}
}
}