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ctu agv callback接口返回处理逻辑

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This commit is contained in:
liuhanqing
2025-07-08 11:22:10 +08:00
parent e6b5bd67ba
commit b8e80af9b7
16 changed files with 482 additions and 129 deletions
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70
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -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<String, Object> 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<MydoJob> mydoJobList = getMydoJobList(mydoJobParam);
if (CollUtil.isNotEmpty(mydoJobList)) {
MydoJob mydoJob = mydoJobList.get(0);
//通知wms agv搬运阶段完成
Map<String, Object> 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":

2
ruoyi-admin/src/main/java/com/ruoyi/device/agv/mapper/AgvQueueMapper.java
View File

@@ -65,4 +65,6 @@ public interface AgvQueueMapper
* @return
*/
AgvQueue selectAgvQueueByTaskCode(String taskCode);
void insertHistory(String reqCode);
}

6
ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/IAgvQueueService.java
View File

@@ -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);
}

5
ruoyi-admin/src/main/java/com/ruoyi/device/agv/service/impl/AgvQueueServiceImpl.java
View File

@@ -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);
}
}

12
ruoyi-admin/src/main/java/com/ruoyi/device/operation/controller/ThreadOperationController.java
View File

@@ -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();
}
}

45
ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java
View File

@@ -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();
}
}
}

18
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcRead.java
View File

@@ -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<String, DeviceSsj> 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);

105
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/HslRead.java Normal file
View File

@@ -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 <T> 类型对象
* @return
* @return
* @return
* @return
* @return
*/
public static <T> T ReadResultRender(OperateResultExOne<T> 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<byte[]> 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";
}

39
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/domain/SendData.java Normal file
View File

@@ -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;
}
}

24
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/util/Tools.java
View File

@@ -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;
}
}

8
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java
View File

@@ -43,7 +43,7 @@ public class BsInSsjThread implements Runnable {
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1003");
ssjCodes.add("G1009");
ssjCodeList.put("in", ssjCodes);
ssjCodeList.put("ssjIn", ssjCodes);
//流利架
ArrayList<String> 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 {

70
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java
View File

@@ -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<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
public boolean isRun = true;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> 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
}

42
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java
View File

@@ -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<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
public boolean isRun = true;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> 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) {

123
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java
View File

@@ -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<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
public boolean isRun = true;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> 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<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());
}
//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());
AgvQueue agvQueue1 = new AgvQueue();
agvQueue1.setPositionCode2(outSsjDevice.getDeviceCode());
agvQueue1.setRequest("1");
List<AgvQueue> 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

36
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java
View File

@@ -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<String, List<String>> ssjCodeList;
@Resource
private IApiService apiService;
@Resource
private IAgvQueueService agvQueueService;
public boolean isRun = true;
@PostConstruct
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> 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) {

6
ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml
View File

@@ -102,6 +102,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="taskCode != null">#{taskCode},</if>
</trim>
</insert>
<insert id="insertHistory">
insert into agv_queue_finish
select *
from agv_queue
where req_code = #{reqCode}
</insert>
<update id="updateAgvQueue" parameterType="AgvQueue">
update agv_queue