From b8e80af9b7b27a30e701322dacf98e336c1bbd1a Mon Sep 17 00:00:00 2001 From: liuhanqing Date: Tue, 8 Jul 2025 11:22:10 +0800 Subject: [PATCH] =?UTF-8?q?ctu=20agv=20callback=E6=8E=A5=E5=8F=A3=E8=BF=94?= =?UTF-8?q?=E5=9B=9E=E5=A4=84=E7=90=86=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/service/impl/ApiServiceImpl.java | 70 ++++++++-- .../device/agv/mapper/AgvQueueMapper.java | 2 + .../device/agv/service/IAgvQueueService.java | 6 + .../agv/service/impl/AgvQueueServiceImpl.java | 5 + .../controller/ThreadOperationController.java | 12 ++ .../com/ruoyi/schedule/ScheduleThread.java | 45 +++++-- .../ruoyi/schedule/plcRead/ssj/PlcRead.java | 18 ++- .../schedule/plcRead/ssj/domain/HslRead.java | 105 +++++++++++++++ .../schedule/plcRead/ssj/domain/SendData.java | 39 ++++++ .../ruoyi/schedule/plcRead/util/Tools.java | 24 ++++ .../scheduleTask/ssj/bs/BsInSsjThread.java | 8 +- .../scheduleTask/ssj/bs/BsOutSsjThread.java | 70 ++++++---- .../scheduleTask/ssj/bs/BsPickSsjTread.java | 42 +++--- .../scheduleTask/ssj/js/JsOutSsjThread.java | 123 +++++++++++------- .../scheduleTask/ssj/js/JsPickSsjTread.java | 36 +++-- .../mapper/device/AgvQueueMapper.xml | 6 + 16 files changed, 482 insertions(+), 129 deletions(-) create mode 100644 ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/HslRead.java create mode 100644 ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SendData.java diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java index 0db565f..6e426f4 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java @@ -22,9 +22,14 @@ import com.ruoyi.common.core.domain.AjaxResult; import com.ruoyi.common.core.text.Convert; 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 com.ruoyi.schedule.plcRead.ssj.domain.SendData; +import com.ruoyi.schedule.plcRead.util.Tools; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; import java.util.HashMap; import java.util.List; @@ -70,6 +75,7 @@ public class ApiServiceImpl implements IApiService { } @Override + @Transactional(rollbackFor = Exception.class) public AgvCallbackResponse agvCallback(AgvCallbackRequest request) { RequestLog requestLog = requestLogService.getRequestLog(JSONUtil.toJsonStr(request), "AGV任务执行通知"); requestLog.setRequestUrl("http://10.214.18.61:8089/external/log/outStockJob"); @@ -112,20 +118,25 @@ public class ApiServiceImpl implements IApiService { switch (request.getMethod()) { case "start": //任务开始 + agvQueue.setStatus("2"); + agvQueueService.updateAgvQueue(agvQueue); log.info("【AGV任务开始】任务号：{}", taskCode); break; case "outbin": //走出储位 - if ("2".equals(agvQueue.getStatus())) { - agvQueue.setStatus("3"); - agvQueueService.updateAgvQueue(agvQueue); - log.info("【AGV走出储位】任务号：{}", taskCode); - } + agvQueue.setStatus("3"); + agvQueueService.updateAgvQueue(agvQueue); + log.info("【AGV走出储位】任务号：{}", taskCode); break; case "end": //任务结束 agvQueue.setStatus("4"); agvQueueService.updateAgvQueue(agvQueue); + //通知wms agv搬运阶段完成 + Map param = new HashMap<>(); + param.put("task_no", agvQueue.getWmsTaskNo()); + param.put("tray_code", agvQueue.getWmsTraycode()); + param.put("wms_type", agvQueue.getWmsTaskType()); if ("1".equals(agvQueue.getWmsTaskType()) || "2".equals(agvQueue.getWmsTaskType())){ //通知wms 任务结束 MydoJob mydoJobParam = new MydoJob(); @@ -134,22 +145,53 @@ public class ApiServiceImpl implements IApiService { List mydoJobList = getMydoJobList(mydoJobParam); if (CollUtil.isNotEmpty(mydoJobList)) { MydoJob mydoJob = mydoJobList.get(0); - //通知wms agv搬运阶段完成 - Map param = new HashMap<>(); - param.put("task_no", agvQueue.getWmsTaskNo()); - param.put("tray_code", agvQueue.getWmsTraycode()); - requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param)); - log.info("【AGV任务结束】任务号：{}", taskCode); + if (Convert.toInt(mydoJob.getInOrOut()) < 20) { //入库任务 暂无特殊逻辑 + RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param)); + if ("1".equals(requestLog.getIsSuccessful())){ + //插入历史 + agvQueueService.insertHistory(agvQueue.getReqCode()); + //删除队列 + agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode()); + log.info("【AGV任务结束】任务号：{}", taskCode); + + } } else { - //todo 写入对应的plc 任务号 + //写入对应的plc 任务号 + DeviceSsj deviceSsj = PlcRead.deviceMap.get(mydoJob.getExitId()); + if (ObjUtil.isNotNull(deviceSsj)){ + SendData rwh = new SendData(Tools.DINT, mydoJob.getTaskNo()); + byte[] bytes = Tools.sendData(rwh); + //写入信息 取货完成 + int i = PlcRead.WriteToSSJ(deviceSsj.getPlcDbWriteAddress(), bytes); + if (i==1){ + RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param)); + if ("1".equals(requestLog.getIsSuccessful())){ + //插入历史 + agvQueueService.insertHistory(agvQueue.getReqCode()); + //删除队列 + agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode()); + log.info("【AGV任务结束】任务号：{}", taskCode); + + } + } + } } } else { log.info("【AGV任务结束】任务号：{}，wms不存在对应的作业", taskCode); } - }else if (agvQueue.getWmsTaskType().equals("3")){ - //todo 绑定点位和料架 + }else if ("3".equals(agvQueue.getWmsTaskType())){ + //绑定点位和料架 + RequestLog requestLog = requestLogService.getRequestLog(AGV_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param)); + if ("1".equals(requestLog.getIsSuccessful())){ + //插入历史 + agvQueueService.insertHistory(agvQueue.getReqCode()); + //删除队列 + agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode()); + log.info("【AGV任务结束】任务号：{}", taskCode); + + } } break; case "cancel": diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java index 4c68e6b..6204a12 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java @@ -65,4 +65,6 @@ public interface AgvQueueMapper * @return */ AgvQueue selectAgvQueueByTaskCode(String taskCode); + + void insertHistory(String reqCode); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java index 4a4076c..05e87bf 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java @@ -65,4 +65,10 @@ public interface IAgvQueueService * @return */ AgvQueue selectAgvQueueByTaskCode(String taskCode); + + /** + * 插入agv完成历史 + * @param reqCode + */ + void insertHistory(String reqCode); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java index e3ec008..8418a52 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java @@ -95,4 +95,9 @@ public class AgvQueueServiceImpl implements IAgvQueueService public AgvQueue selectAgvQueueByTaskCode(String taskCode) { return agvQueueMapper.selectAgvQueueByTaskCode(taskCode); } + + @Override + public void insertHistory(String reqCode) { + agvQueueMapper.insertHistory(reqCode); + } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/operation/controller/ThreadOperationController.java b/ruoyi-admin/src/main/java/com/ruoyi/device/operation/controller/ThreadOperationController.java index 82c8a90..0c7da3f 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/operation/controller/ThreadOperationController.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/operation/controller/ThreadOperationController.java @@ -51,4 +51,16 @@ public class ThreadOperationController { scheduleThread.stopAllThread(); return AjaxResult.success(); } + + /** + * 关闭线程 + * + * @return + */ + @RequestMapping("/stopAllThread2") + //@PreAuthorize("@ss.hasPermi('device:operation:stop')") + public AjaxResult stopAllThread2() { + scheduleThread.stopAllThread2(); + return AjaxResult.success(); + } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java index 4434566..c3b9399 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java @@ -6,7 +6,11 @@ import com.ruoyi.schedule.plcRead.ssj.domain.PlcConnectInfo; import com.ruoyi.schedule.plcRead.ssj.PlcRead; import com.ruoyi.schedule.plcRead.ssj.domain.CustomThread; import com.ruoyi.schedule.scheduleTask.ssj.bs.BsInSsjThread; +import com.ruoyi.schedule.scheduleTask.ssj.bs.BsOutSsjThread; +import com.ruoyi.schedule.scheduleTask.ssj.bs.BsPickSsjTread; import com.ruoyi.schedule.scheduleTask.ssj.js.JsInSsjThread; +import com.ruoyi.schedule.scheduleTask.ssj.js.JsOutSsjThread; +import com.ruoyi.schedule.scheduleTask.ssj.js.JsPickSsjTread; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; @@ -23,6 +27,10 @@ public class ScheduleThread { public CustomThread bsInSsjThread; public CustomThread jsInSsjThread; + public CustomThread bsOutSsjThread; + public CustomThread jsOutSsjThread; + public CustomThread bsPickSsjThread; + public CustomThread jsPickSsjThread; /** * 项目初始化启动 @@ -39,6 +47,7 @@ public class ScheduleThread { list.put(deviceSsj.getDeviceCode(),deviceSsj); } + //plc读取线程 PlcRead plcRead = new PlcRead(list,ssjPlcConnectInfo); Thread plcReadThread = new Thread(plcRead); customThread = new CustomThread(plcReadThread, plcRead); @@ -48,6 +57,14 @@ public class ScheduleThread { bsInSsjThread = new CustomThread(new Thread(bsInSsjThread1),bsInSsjThread1); JsInSsjThread jsInSsjThread1 = new JsInSsjThread(); jsInSsjThread = new CustomThread(new Thread(jsInSsjThread1),bsInSsjThread1); + BsOutSsjThread bsOutSsjThread1 = new BsOutSsjThread(); + bsOutSsjThread = new CustomThread(new Thread(bsOutSsjThread1),bsOutSsjThread1); + JsOutSsjThread jsOutSsjThread1 = new JsOutSsjThread(); + jsOutSsjThread = new CustomThread(new Thread(jsOutSsjThread1),jsOutSsjThread1); + BsPickSsjTread bsPickSsjTread1 = new BsPickSsjTread(); + bsPickSsjThread = new CustomThread(new Thread(bsPickSsjTread1),bsPickSsjTread1); + JsPickSsjTread jsPickSsjTread1 = new JsPickSsjTread(); + jsPickSsjThread = new CustomThread(new Thread(jsPickSsjTread1),jsPickSsjTread1); } /** @@ -58,8 +75,18 @@ public class ScheduleThread { } public void startAllThread2() { + //臂式入库线程调度 bsInSsjThread.getThread().start(); + //剪式入库线程调度 jsInSsjThread.getThread().start(); + //臂式出库线程调度 + bsOutSsjThread.getThread().start(); + //剪式出库线程调度 + jsOutSsjThread.getThread().start(); + //臂式出库到位线程调度-wms电子屏交互 + bsPickSsjThread.getThread().start(); + //剪上出库到位线程调度-wms电子屏交互 + jsPickSsjThread.getThread().start(); } /** @@ -69,18 +96,20 @@ public class ScheduleThread { stopThread(customThread); } + public void stopAllThread2() { + stopThread(bsInSsjThread); + stopThread(jsInSsjThread); + stopThread(bsOutSsjThread); + stopThread(jsOutSsjThread); + stopThread(bsPickSsjThread); + stopThread(jsPickSsjThread); + } + /** * 停止线程 */ private void stopThread(CustomThread customThread) { - if (customThread.getThread() != null && customThread.getThread().isAlive()) { - ((PlcRead)customThread.getRunnable()).stopReading(); - try { - customThread.getThread().join(); // 等待线程结束 - } catch (InterruptedException e) { - Thread.currentThread().interrupt(); - } - } + } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java index e9926db..218b864 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java @@ -7,6 +7,7 @@ import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.ruoyi.device.ssj.domain.DeviceSsj; +import com.ruoyi.schedule.plcRead.ssj.domain.HslRead; import com.ruoyi.schedule.plcRead.ssj.domain.PlcConnectInfo; import com.ruoyi.schedule.plcRead.util.ParseUtil; import lombok.extern.slf4j.Slf4j; @@ -18,7 +19,7 @@ import java.util.concurrent.ConcurrentHashMap; public class PlcRead implements Runnable { public static ConcurrentHashMap deviceMap; - private volatile boolean running = true; + public volatile boolean isRun = true; public SiemensS7Net siemensS7Net = null; public static IReadWriteNet readWriteNet = null; @@ -32,9 +33,17 @@ public class PlcRead implements Runnable { this.port = plcConnectInfo.getPort(); } + public static int WriteToSSJ(String address, byte[] data) { + int a = 0; + if (readWriteNet != null) { + a = HslRead.WriteResultRender(readWriteNet.Write(address, data), address); + } + return a; + } + @Override public void run() { - while (running && !Thread.currentThread().isInterrupted()) { + while (isRun) { try { if (IsConnect()) { int step = 20; @@ -511,11 +520,6 @@ public class PlcRead implements Runnable { } - public void stopReading() { - running = false; - Thread.currentThread().interrupt(); // 主动中断线程 - } - void ConnectServer() { siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/HslRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/HslRead.java new file mode 100644 index 0000000..ef62a7b --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/HslRead.java @@ -0,0 +1,105 @@ +package com.ruoyi.schedule.plcRead.ssj.domain; + +import HslCommunication.BasicFramework.SoftBasic; +import HslCommunication.Core.Net.IReadWriteNet; +import HslCommunication.Core.Types.OperateResult; +import HslCommunication.Core.Types.OperateResultExOne; + +import javax.swing.*; +import java.awt.*; +import java.text.SimpleDateFormat; +import java.util.Date; + +public class HslRead { + + private static SimpleDateFormat dateFormat = new SimpleDateFormat("[HH:mm:ss] "); + + /** + * 将结果信息显示出来，在界面里进行显示 + * @param result 等待显示的结果信息 + * @param x + * @param address 读取的地址数据 + * @param textBox 显示结果的文本框 + * @param scrollPane 支持滚动条的控件 + * @param 类型对象 + * @return + * @return + * @return + * @return + * @return + */ + public static T ReadResultRender(OperateResultExOne result ) { + + T x = null ; + if (result.IsSuccess) { + if (result.Content.getClass().isArray()) { + + } else { + x= (T) result.Content; + } + } else { + + JOptionPane.showMessageDialog( + null, + dateFormat.format(new Date()) + "] Read Failed\r\nReason:" + result.ToMessageShowString(), + "Result", + JOptionPane.WARNING_MESSAGE); + } + return x; + } + + public static int WriteResultRender(OperateResult result, String address ) { //void + int x=0; + if (result.IsSuccess) { +// JOptionPane.showMessageDialog( +// null, +// dateFormat.format(new Date()) + "[" + address + "] Write Success", +// "Result", +// JOptionPane.PLAIN_MESSAGE); + x=1; + } else { +// JOptionPane.showMessageDialog( +// null, +// dateFormat.format(new Date()) + "[" + address + "] Write Failed\r\nReason:" + result.ToMessageShowString(), +// "Result", +// JOptionPane.WARNING_MESSAGE); + x=2; + } + return x; + } + + public static void BulkReadRenderResult(IReadWriteNet readWrite, JTextField addTextBox, JTextField lengthTextBox, JTextArea resultTextBox ) { + try { + OperateResultExOne read = readWrite.Read(addTextBox.getText(), Short.parseShort(lengthTextBox.getText())); + if (read.IsSuccess) { + resultTextBox.setText("Result：" + SoftBasic.ByteToHexString(read.Content)); + } else { + JOptionPane.showMessageDialog(null, "Read Failed：" + read.ToMessageShowString(), "Result", JOptionPane.WARNING_MESSAGE); + } + } catch (Exception ex) { + JOptionPane.showMessageDialog(null, "Read Failed：" + ex.getMessage(), "Result", JOptionPane.ERROR_MESSAGE); + } + } + + public static void SetPanelEnabled(JPanel panel, boolean enable) { + Component[] components = panel.getComponents(); + + //System.out.println("Component Length:" + components.length); + for (Component component : components) { + if (component instanceof JPanel) { + SetPanelEnabled((JPanel) component, enable); + } else { + component.setEnabled(enable); + } + } + + } + + public static String IpAddressInputWrong = "IpAddress input wrong"; + public static String PortInputWrong = "Port input wrong"; + public static String SlotInputWrong = "Slot input wrong"; + public static String BaudRateInputWrong = "Baud rate input wrong"; + public static String DataBitsInputWrong = "Data bit input wrong"; + public static String StopBitInputWrong = "Stop bit input wrong"; + +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SendData.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SendData.java new file mode 100644 index 0000000..8cbb61f --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SendData.java @@ -0,0 +1,39 @@ +package com.ruoyi.schedule.plcRead.ssj.domain; + +/** + * 发送数据的实体类 + * @num 长度 + * @num2 值 + */ +public class SendData { + private static final int DINT = 4; + private static final int INT = 2; + private int num; + private int num2; + + public SendData(int num, int num2) { + this.num = num; + this.num2 = num2; + } + + public SendData(int num, String num2) { + this.num = num; + this.num2 = Integer.parseInt(num2); + } + + public int getNum() { + return num; + } + + public void setNum(int num) { + this.num = num; + } + + public int getNum2() { + return num2; + } + + public void setNum2(int num2) { + this.num2 = num2; + } +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java index feb8cb4..cf54774 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java @@ -1,6 +1,7 @@ package com.ruoyi.schedule.plcRead.util; import HslCommunication.BasicFramework.SoftBasic; +import com.ruoyi.schedule.plcRead.ssj.domain.SendData; import java.io.Serializable; import java.nio.charset.StandardCharsets; @@ -375,4 +376,27 @@ public class Tools implements Serializable { a[3] = Integer.parseInt(hexString.substring(24,32),2); return a; } + + /** + * 下发到PLC的反馈字节 + */ + public static byte[] sendData(SendData... list) { + byte[][] values = new byte[list.length][0]; + for (int i = 0; i < list.length; i++) { + byte[] bytes = Tools.intToBytes(list[i].getNum2(), list[i].getNum()); + //System.out.println(bytes.length); + values[i] = bytes; + } + int length_byte = 0; + for (byte[] value : values) { + length_byte += value.length; + } + byte[] all_byte = new byte[length_byte]; + int countLength = 0; + for (byte[] b : values) { + System.arraycopy(b, 0, all_byte, countLength, b.length); + countLength += b.length; + } + return all_byte; + } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java index fd3d810..3c99adb 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java @@ -43,7 +43,7 @@ public class BsInSsjThread implements Runnable { ArrayList ssjCodes = new ArrayList<>(); ssjCodes.add("G1003"); ssjCodes.add("G1009"); - ssjCodeList.put("in", ssjCodes); + ssjCodeList.put("ssjIn", ssjCodes); //流利架 ArrayList ssjCodes2 = new ArrayList<>(); ssjCodes2.add("LLJ1"); @@ -51,7 +51,7 @@ public class BsInSsjThread implements Runnable { ssjCodes2.add("LLJ3"); ssjCodes2.add("LLJ4"); ssjCodes2.add("LLJ5"); - ssjCodeList.put("in2", ssjCodes2); + ssjCodeList.put("fluentIn", ssjCodes2); apiService = SpringUtils.getBean(IApiService.class); agvQueueService = SpringUtils.getBean(IAgvQueueService.class); @@ -65,7 +65,7 @@ public class BsInSsjThread implements Runnable { for (String type : ssjCodeList.keySet()) { switch ( type){ - case "in": + case "ssjIn": //正常入库 for (String ssjCode : ssjCodeList.get(type)) { try { @@ -80,7 +80,7 @@ public class BsInSsjThread implements Runnable { } break; - case "in2": + case "fluentIn": //流利架 空料箱入库 for (String lljCode : ssjCodeList.get(type)) { try { diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java index 0c3f607..abec84a 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java @@ -1,6 +1,7 @@ package com.ruoyi.schedule.scheduleTask.ssj.bs; import cn.hutool.core.collection.CollUtil; +import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.device.agv.domain.AgvQueue; import com.ruoyi.device.agv.service.IAgvQueueService; import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest; @@ -20,45 +21,68 @@ import java.util.List; @Slf4j -@Component -public class BsOutSsjThread { +public class BsOutSsjThread implements Runnable { public HashMap> ssjCodeList; - @Resource private IApiService apiService; - @Resource private IAgvQueueService agvQueueService; + public boolean isRun = true; + - @PostConstruct public void init() { ssjCodeList = new HashMap<>(); ArrayList ssjCodes = new ArrayList<>(); ssjCodes.add("G1004"); ssjCodes.add("G1010"); ssjCodeList.put("ssjOut", ssjCodes); + + apiService = SpringUtils.getBean(IApiService.class); + agvQueueService = SpringUtils.getBean(IAgvQueueService.class); } + @Override 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; - } + init(); + while (isRun){ + for (String type : ssjCodeList.keySet()) { + switch (type){ + case "ssjOut": + //正常输送线出口 + for (String ssjCode : ssjCodeList.get(type)) { + try { + if (PlcRead.deviceMap.containsKey(ssjCode)) { + ssjOutDispatch(PlcRead.deviceMap.get(ssjCode)); + } else { + log.error("设备不存在 ssjCode{}", ssjCode); + } + }catch (Exception e){ + log.error(e.getMessage(), e); + } + } + break; + case "fluentOut": + //流利架出口 + for (String ssjCode : ssjCodeList.get(type)) { + try { + fluentOutDispatch(ssjCode); + }catch (Exception e){ + log.error(e.getMessage(), e); + } + } + break; + } + + } + try { + Thread.sleep(3000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } + } /** @@ -94,10 +118,10 @@ public class BsOutSsjThread { } /** - * 流利架出口 + * todo 流利架出口 * @param outSsjDevice */ - public void fluentOutDispatch(DeviceSsj outSsjDevice) { + public void fluentOutDispatch(String outSsjDevice) { //查询流利架货位是否 } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java index 1f754cc..d96cd4b 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java @@ -1,6 +1,7 @@ package com.ruoyi.schedule.scheduleTask.ssj.bs; import cn.hutool.core.collection.CollUtil; +import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.device.agv.service.IAgvQueueService; import com.ruoyi.common.core.text.Convert; import com.ruoyi.api.domain.wcs2wms.MydoJob; @@ -19,39 +20,50 @@ import java.util.List; @Slf4j -@Component -public class BsPickSsjTread { +public class BsPickSsjTread implements Runnable{ public HashMap> ssjCodeList; - @Resource private IApiService apiService; - @Resource private IAgvQueueService agvQueueService; + public boolean isRun = true; + - @PostConstruct public void init() { ssjCodeList = new HashMap<>(); ArrayList ssjCodes = new ArrayList<>(); - //流利架 + ssjCodes.add("G1004"); + ssjCodes.add("G1010"); ssjCodeList.put("pick", ssjCodes); + + + apiService = SpringUtils.getBean(IApiService.class); + agvQueueService = SpringUtils.getBean(IAgvQueueService.class); } - @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); + @Override + public void run() { + init(); + while (isRun) { + for (String type : ssjCodeList.keySet()) { + if ("pick".equals(type)) { + for (String ssjCode : ssjCodeList.get(type)) { + try { + if (PlcRead.deviceMap.containsKey(ssjCode)) { + pickDispatch(PlcRead.deviceMap.get(ssjCode)); + } else { + log.error("设备不存在 ssjCode{}", ssjCode); + } + }catch (Exception e){ + log.error(e.getMessage(),e); + } } } } } + } public void pickDispatch(DeviceSsj pickSsjDevice) { diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java index 55f74a5..bc48825 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java @@ -1,10 +1,13 @@ package com.ruoyi.schedule.scheduleTask.ssj.js; import cn.hutool.core.collection.CollUtil; +import com.ruoyi.api.domain.agv.continueTask.ContinueTaskRequest; +import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse; 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.common.utils.spring.SpringUtils; import com.ruoyi.device.agv.domain.AgvQueue; import com.ruoyi.device.agv.service.IAgvQueueService; import com.ruoyi.device.ssj.domain.DeviceSsj; @@ -20,18 +23,16 @@ import java.util.List; @Slf4j -@Component -public class JsOutSsjThread { +public class JsOutSsjThread implements Runnable{ public HashMap> ssjCodeList; - @Resource private IApiService apiService; - @Resource private IAgvQueueService agvQueueService; + public boolean isRun = true; + - @PostConstruct public void init() { ssjCodeList = new HashMap<>(); ArrayList ssjCodes = new ArrayList<>(); @@ -43,27 +44,46 @@ public class JsOutSsjThread { ssjCodes.add("G5001"); ssjCodes.add("G5010"); ssjCodeList.put("ssjOut", ssjCodes); + + apiService = SpringUtils.getBean(IApiService.class); + agvQueueService = SpringUtils.getBean(IAgvQueueService.class); } + @Override 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); + init(); + + while (isRun){ + for (String type : ssjCodeList.keySet()) { + switch (type){ + case "ssjOut": + try { + //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); + } + } + }catch (Exception e){ + log.error(e.getMessage(), e); } - } - break; - case "fluentOut": - //流利架出口 - break; + break; + case "fluentOut": + //流利架出口(剪式没有) + break; + } + } + try { + Thread.sleep(3000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } + } /** @@ -71,41 +91,52 @@ public class JsOutSsjThread { * @param outSsjDevice */ public void ssjOutDispatch(DeviceSsj outSsjDevice) { + //查询对应的作业 请求ctu生成对应任务单执行 + AgvQueue agvQueue = new AgvQueue(); + agvQueue.setPositionCode2(outSsjDevice.getDeviceCode()); + agvQueue.setStatus("0"); + List 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 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()); + } + //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 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 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()); + AgvQueue agvQueue1 = new AgvQueue(); + agvQueue1.setPositionCode2(outSsjDevice.getDeviceCode()); + agvQueue1.setRequest("1"); + List agvQueueList1 = agvQueueService.selectAgvQueueList(agvQueue1); + if (CollUtil.isNotEmpty(agvQueueList1)){ + for (AgvQueue queue : agvQueueList1) { + if ("1".equals(queue.getRequest())){ + //todo 放入继续任务的参数 + ContinueTaskRequest continueTaskRequest = new ContinueTaskRequest(); + ContinueTaskResponse continueTaskResponse = apiService.continueTask(continueTaskRequest); + if (continueTaskResponse.getCode()==0){ + //更新任务单状态 + agvQueue1.setRequest("2"); + agvQueueService.updateAgvQueue(agvQueue1); + } } } - }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 diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java index 4fa26a5..57a629a 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java @@ -4,6 +4,7 @@ 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.common.utils.spring.SpringUtils; import com.ruoyi.device.agv.service.IAgvQueueService; import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.schedule.plcRead.ssj.PlcRead; @@ -19,18 +20,16 @@ import java.util.List; @Slf4j -@Component -public class JsPickSsjTread { +public class JsPickSsjTread implements Runnable { public HashMap> ssjCodeList; - @Resource private IApiService apiService; - @Resource private IAgvQueueService agvQueueService; + public boolean isRun = true; + - @PostConstruct public void init() { ssjCodeList = new HashMap<>(); ArrayList ssjCodes = new ArrayList<>(); @@ -47,21 +46,34 @@ public class JsPickSsjTread { ssjCodes.add("G4005"); ssjCodes.add("G4006"); ssjCodeList.put("pick", ssjCodes); + + + apiService = SpringUtils.getBean(IApiService.class); + agvQueueService = SpringUtils.getBean(IAgvQueueService.class); } + @Override 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); + init(); + while (isRun){ + for (String type : ssjCodeList.keySet()) { + if ("pick".equals(type)) { + for (String ssjCode : ssjCodeList.get(type)) { + try { + if (PlcRead.deviceMap.containsKey(ssjCode)) { + pickDispatch(PlcRead.deviceMap.get(ssjCode)); + } else { + log.error("设备不存在 ssjCode{}", ssjCode); + } + }catch (Exception e){ + log.error(e.getMessage(),e); + } } } } } + } public void pickDispatch(DeviceSsj pickSsjDevice) { diff --git a/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml b/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml index 0c6bd75..d9936d9 100644 --- a/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml +++ b/ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml @@ -102,6 +102,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" #{taskCode}, + + insert into agv_queue_finish + select * + from agv_queue + where req_code = #{reqCode} + update agv_queue