From 4fef962e6c7d61bf3aec521514244228a3186d47 Mon Sep 17 00:00:00 2001 From: zgw <13623675548@163.com> Date: Tue, 6 Jan 2026 20:09:20 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E8=BF=87=E7=A8=8B=E9=97=AE?= =?UTF-8?q?=E9=A2=98=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../srgv/controller/DeviceSrgvController.java | 2 +- .../com/ruoyi/job/mapper/MydoJobMapper.java | 3 + .../ruoyi/job/service/IMydoJobService.java | 2 + .../job/service/impl/MydoJobServiceImpl.java | 6 + .../com/ruoyi/schedule/ScheduleThread.java | 50 ++++-- .../schedule/plcRead/srgv/PlcSrgvRead.java | 15 +- .../schedule/plcRead/ssj/PlcSsjRead.java | 13 +- .../schedule/scheduleTask/cdz/CdzThread.java | 14 +- .../scheduleTask/monit/MonitoringThread.java | 8 +- .../scheduleTask/srgv/BaseSRgvThread.java | 154 ++++++++++-------- .../schedule/scheduleTask/ssj/SsjThread.java | 15 +- .../schedule/scheduleTask/tsj/TsjThread.java | 36 +++- .../src/main/resources/application-druid.yml | 2 +- .../src/main/resources/application.yml | 2 +- .../resources/mapper/job/MydoJobMapper.xml | 8 +- 15 files changed, 220 insertions(+), 110 deletions(-) diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/srgv/controller/DeviceSrgvController.java b/ruoyi-admin/src/main/java/com/ruoyi/device/srgv/controller/DeviceSrgvController.java index c132797..6c2c482 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/srgv/controller/DeviceSrgvController.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/srgv/controller/DeviceSrgvController.java @@ -79,7 +79,7 @@ public class DeviceSrgvController extends BaseController return toAjax(deviceSrgvService.insertDeviceSrgv(deviceSrgv)); } - /** + /** * 修改四向小车设备表 */ @PreAuthorize("@ss.hasPermi('device:srgv:edit')") diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java b/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java index 106a019..0682470 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java @@ -85,4 +85,7 @@ public interface MydoJobMapper void selectMydoJobOutside(HashMap map); List selectOutJobList(@Param("theFloor") String floor); + + List selectInJobList(@Param("theFloor") String floor); + } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java b/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java index d4558b7..e298b5f 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java @@ -88,4 +88,6 @@ public interface IMydoJobService List selectOutJobList(String floor); + + List selectInJobList(String floor); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java index 71a38a6..e7c782b 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java @@ -1,5 +1,6 @@ package com.ruoyi.job.service.impl; +import java.util.Collections; import java.util.HashMap; import java.util.List; @@ -188,4 +189,9 @@ public class MydoJobServiceImpl implements IMydoJobService public List selectOutJobList(String floor) { return mydoJobMapper.selectOutJobList(floor); } + @Override + public List selectInJobList(String floor) { + return mydoJobMapper.selectInJobList(floor); + } + } 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 8248aaf..b4c372d 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java @@ -89,6 +89,30 @@ public class ScheduleThread { log.info("调度服务执行成功"); } + @PreDestroy + public void destroy() { + try { + for (String key : threadMap.keySet()) { + CustomThread ct = threadMap.get(key); + if (ct != null && ct.getRunnable() != null) { + setRunnableIsRun(ct.getRunnable(), false); + } + } + for (String key : threadMap.keySet()) { + CustomThread ct = threadMap.get(key); + if (ct != null && ct.getThread() != null) { + try { + ct.getThread().join(2000); + } catch (InterruptedException ignored) { + Thread.currentThread().interrupt(); + } + } + } + } catch (Exception e) { + log.error("调度服务销毁时停止线程异常", e); + } + } + /** * 调度初始化 */ @@ -120,19 +144,19 @@ public class ScheduleThread { for (DeviceSsj deviceSsj : deviceSsjs) { ssjList.put(deviceSsj.getDeviceCode(), deviceSsj); } - PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 1502)); + PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("192.168.10.100", 502)); Thread plcSsjReadThread = new Thread(plcSsjRead, "plcSsjReadCustomThread"); plcSsjReadCustomThread = new CustomThread(plcSsjReadThread, plcSsjRead); //plc充电桩读取线程 - ConcurrentHashMap cdzList = new ConcurrentHashMap<>(); - List deviceCdzList = deviceCdzService.selectDeviceCdzList(new DeviceCdz()); - for (DeviceCdz deviceCdz : deviceCdzList) { - cdzList.put(String.valueOf(deviceCdz.getId()), deviceCdz); - } - PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList, new PlcConnectInfo("127.0.0.1", 1502)); - Thread plcCdzReadThread = new Thread(plcCdzRead, "plcCdzjReadCustomThread"); - plcCdzjReadCustomThread = new CustomThread(plcCdzReadThread, plcCdzRead); +// ConcurrentHashMap cdzList = new ConcurrentHashMap<>(); +// List deviceCdzList = deviceCdzService.selectDeviceCdzList(new DeviceCdz()); +// for (DeviceCdz deviceCdz : deviceCdzList) { +// cdzList.put(String.valueOf(deviceCdz.getId()), deviceCdz); +// } +// PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList, new PlcConnectInfo("192.168.10.100", 502)); +// Thread plcCdzReadThread = new Thread(plcCdzRead, "plcCdzjReadCustomThread"); +// plcCdzjReadCustomThread = new CustomThread(plcCdzReadThread, plcCdzRead); ConcurrentHashMap tsjList = new ConcurrentHashMap<>(); @@ -142,14 +166,13 @@ public class ScheduleThread { tsjList.put(t.getName(), t); } //plc提升机读取线程 - PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList, new PlcConnectInfo("127.0.0.1", 1502)); + PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList, new PlcConnectInfo("192.168.10.100", 502)); Thread plcTsjReadThread = new Thread(plcTsjRead, "plcTsjReadCustomThread"); plcTsjReadCustomThread = new CustomThread(plcTsjReadThread, plcTsjRead); ConcurrentHashMap srgvList = new ConcurrentHashMap<>(); List srgvs = deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv()); for (DeviceSrgv srgv : srgvs) { - srgvList.put(srgv.getDeviceId().toString(), srgv); switch (srgv.getDeviceId()) { case 1: PlcSrgvRead plcSrgvRead1 = new PlcSrgvRead(srgv, new PlcConnectInfo(srgv.getIp(), srgv.getPort())); @@ -162,6 +185,7 @@ public class ScheduleThread { plcSrgvReadCustomThread2 = new CustomThread(plcSrgvReadThread2, plcSrgvRead2); break; } + srgvList.put(srgv.getDeviceId().toString(), srgv); } PlcSrgvRead.deviceSrgvMap = srgvList; //监控线程 @@ -173,7 +197,7 @@ public class ScheduleThread { public void refreshThreadMap() { registerThread("plcSsjReadCustomThread", plcSsjReadCustomThread, "PLC输送机读取线程", "read"); - registerThread("plcCdzjReadCustomThread", plcCdzjReadCustomThread, "PLC充电桩读取线程", "read"); +// registerThread("plcCdzjReadCustomThread", plcCdzjReadCustomThread, "PLC充电桩读取线程", "read"); registerThread("plcTsjReadCustomThread", plcTsjReadCustomThread, "PLC提升机读取线程", "read"); registerThread("plcSrgvReadCustomThread1", plcSrgvReadCustomThread1, "PLC四向车1读取线程", "read"); registerThread("plcSrgvReadCustomThread2", plcSrgvReadCustomThread2, "PLC四向车2读取线程", "read"); @@ -202,7 +226,7 @@ public class ScheduleThread { plcTsjReadCustomThread.getThread().start(); monitoringCustomThread.getThread().start(); //充电桩读取线程 - plcCdzjReadCustomThread.getThread().start(); +// plcCdzjReadCustomThread.getThread().start(); isRun = true; } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java index 1b64df4..4dd9f9e 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java @@ -21,8 +21,8 @@ import java.util.concurrent.ConcurrentHashMap; public class PlcSrgvRead implements Runnable { public static ConcurrentHashMap deviceSrgvMap; - private static ModbusTcpNet modbusTcpNet; - public static IReadWriteNet readWriteNet = null; + private ModbusTcpNet modbusTcpNet; + public IReadWriteNet readWriteNet = null; public volatile boolean isRun = true; private final String ip; private final int port; @@ -39,14 +39,14 @@ public class PlcSrgvRead implements Runnable { this.station = (byte) 1; } - public static boolean Write(String address, int[] value) { + public synchronized boolean write(String address, int[] value) { OperateResult write = modbusTcpNet.Write(address, value); return write.IsSuccess; } - public static boolean Write(String address, short[] value) { + public synchronized boolean write(String address, short[] value) { OperateResult write = modbusTcpNet.Write(address, value); return write.IsSuccess; @@ -58,9 +58,11 @@ public class PlcSrgvRead implements Runnable { public void run() { while (isRun) { try { - if (IsConnect()) { + if ( + IsConnect()) { if (deviceSrgv != null) { readSrgvPlc(deviceSrgv); + log.info("=====读取小车开始====IP{}",this.ip); } } else { reConnect(); @@ -158,6 +160,7 @@ public class PlcSrgvRead implements Runnable { public void ConnectServer() { modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象 + log.info("创建连接对象,IP{}",this.ip); try { modbusTcpNet.setIpAddress(this.ip); modbusTcpNet.setPort(this.port); @@ -200,7 +203,7 @@ public class PlcSrgvRead implements Runnable { } public String getSite(String siteId){ - if (siteId.equals("030502")||siteId.equals("030501")||siteId.equals("030503")){ + if (siteId.equals("030602")||siteId.equals("030601")||siteId.equals("030603")){ return "tsj"; }else { return siteId; diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java index 0a916f8..4680963 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java @@ -118,9 +118,16 @@ public class PlcSsjRead implements Runnable { OperateResultExOne read4 = modbusTcpNet.Read("1115", (short) 16);//1115 条码 if (read4.IsSuccess) { StringBuilder sb = new StringBuilder(); - for (byte b : read4.Content) { - int code = b & 0xFF; - if (code >= 32 && code <= 126) sb.append((char) code); + for (int i = 0; i < read4.Content.length; i += 2) { + if (i + 1 < read4.Content.length) { + int hi = read4.Content[i + 1] & 0xFF; + int lo = read4.Content[i] & 0xFF; + if (hi >= 32 && hi <= 126) sb.append((char) hi); + if (lo >= 32 && lo <= 126) sb.append((char) lo); + } else { + int single = read4.Content[i] & 0xFF; + if (single >= 32 && single <= 126) sb.append((char) single); + } } String barcode = sb.toString(); ssjDevice.setTrayCode(barcode); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java index f7ac9c1..2080e84 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java @@ -28,7 +28,7 @@ public class CdzThread implements Runnable { public boolean isRun = true; - private final Integer LITTLE_BETTERY = 30; + private final Integer LITTLE_BETTERY = 60; private final Integer MIDDLE_BETTERY = 70; private ISrgvChargingJobService chargingJobService; @@ -106,12 +106,12 @@ public class CdzThread implements Runnable { if (CollUtil.isNotEmpty(srgvChargingJobs)) { for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) { if ("1".equals(srgvChargingJob.getChargingStatus())) { - int i = PlcCdzRead.writeToCdz("1"); - if (i == 1) { +// int i = PlcCdzRead.writeToCdz("1"); +// if (i == 1) { srgvChargingJob.setChargingStatus("2"); srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date())); chargingJobService.updateSrgvChargingJob(srgvChargingJob); - } +// } } } } @@ -156,8 +156,8 @@ public class CdzThread implements Runnable { for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) { if ("0".equals(srgvChargingJob.getChargingStatus())) { - int i = PlcCdzRead.writeToCdz("2"); - if (i == 1) { +// int i = PlcCdzRead.writeToCdz("2"); +// if (i == 1) { srgvChargingJob.setChargingStatus("1"); srgvChargingJob.setChargingDate(DateUtil.formatDateTime(DateUtil.date())); chargingJobService.updateSrgvChargingJob(srgvChargingJob); @@ -165,7 +165,7 @@ public class CdzThread implements Runnable { //插入历史 chargingJobService.insertHistory(srgvChargingJob.getGuid()); chargingJobService.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid()); - } +// } } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java index 8f0be4c..53b19ed 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java @@ -44,10 +44,10 @@ public class MonitoringThread implements Runnable { deviceSsjService.updateDeviceSsj(deviceSsj); } - for (String cdzName : PlcCdzRead.deviceCdzMap.keySet()) { - DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(cdzName); - deviceCdzService.updateDeviceCdz(deviceCdz); - } +// for (String cdzName : PlcCdzRead.deviceCdzMap.keySet()) { +// DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(cdzName); +// deviceCdzService.updateDeviceCdz(deviceCdz); +// } for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) { deviceSrgvService.updateDeviceSrgv(PlcSrgvRead.deviceSrgvMap.get(sRgv)); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java index 7eeedcd..40217b6 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java @@ -32,6 +32,8 @@ import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder; import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead; +import com.ruoyi.schedule.ScheduleThread; +import com.ruoyi.common.domain.CustomThread; import lombok.extern.slf4j.Slf4j; import java.text.SimpleDateFormat; @@ -75,7 +77,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { sRgvCodeList = new HashMap<>(); ArrayList sRgvCodes = new ArrayList<>(); sRgvCodes.add("1"); -// sRgvCodes.add("2"); + sRgvCodes.add("2"); sRgvCodeList.put("srgv", sRgvCodes); wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class); @@ -103,7 +105,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code); sRgvTask(deviceSrgv); - + //小车创建队列 createCarQueue(deviceSrgv); inCharging(deviceSrgv); @@ -145,11 +147,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId); if (ObjUtil.isNotNull(deviceCdz)) { //下发断电任务 - int i = PlcCdzRead.writeToCdz("2"); - if (i == 1) { +// int i = PlcCdzRead.writeToCdz("2"); +// if (i == 1) { srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid()); srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid()); - } +// } } } } @@ -175,8 +177,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { String agvId = srgvChargingJob.getAgvId(); String chargingId = srgvChargingJob.getChargingId(); DeviceSrgv srgv = PlcSrgvRead.deviceSrgvMap.get(agvId); - DeviceCdz cdz = PlcCdzRead.deviceCdzMap.get(chargingId); - if (srgv.getCurrFloor().equals(cdz.getSzcs())) { +// DeviceCdz cdz = PlcCdzRead.deviceCdzMap.get(chargingId); + if (srgv.getCurrFloor()==1) { //生成四向小车充电队列 String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点 WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); @@ -257,57 +259,48 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1) { WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString()); if (wcsSrgvQueue == null) { - //找小车当前层作业，生成队列 - //如果没有当前层作业，就找最近层换层作业，生成队列 - MydoJob mydoJob1 = new MydoJob(); - mydoJob1.setTheFloor(deviceSrgv.getCurrFloor().toString()); - mydoJob1.setInOrOut("1");//货物入库 - mydoJob1.setStatus("3"); - // todo 定提升机到达阶段 - mydoJob1.setExecutionPhase("3"); - List mydoJobs = mydoJobService.selectMydoJobList(mydoJob1); - if (mydoJobs.isEmpty()) { - mydoJob1.setInOrOut("3");//空托盘入库 - mydoJobs = mydoJobService.selectMydoJobList(mydoJob1); - } - if (!mydoJobs.isEmpty()) { - //生成了从小车现在位置到提升机接货的队列 - createCarQueue(mydoJobs.get(0), deviceSrgv, "4", "0"); + List inMydoJobs = mydoJobService.selectInJobList(deviceSrgv.getCurrFloor().toString()); + //找小车当前层入库作业，生成队列 + if (!inMydoJobs.isEmpty()) { + //生成了从小车现在位置到提升机接货的队列 更新作业执行阶段为小车搬运 + createCarQueue(inMydoJobs.get(0), deviceSrgv, "4", "0"); } else { - List mydoJobs1 = mydoJobService.selectOutJobList(deviceSrgv.getCurrFloor().toString()); + //找小车当前层出库作业，生成队列 + List outMydoJobs = mydoJobService.selectOutJobList(deviceSrgv.getCurrFloor().toString()); //当前层出库作业 - if (!mydoJobs1.isEmpty()) { + if (!outMydoJobs.isEmpty()) { //找最外层作业存储过程 HashMap map = new HashMap<>(); map.put("v_layer", deviceSrgv.getCurrFloor()); mydoJobService.selectMydoJobOutside(map); String jobId = map.get("v_job_ids").toString(); - MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId); + MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(jobId); //判断小车当前点是否是出库作业货位点，如果不是，就生成队列{},如果是生成已下发队列 WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); - wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId()); + wcsSrgvMap.setCargoSpaceId(mydoJob.getCargoSpaceId()); List wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); if (!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())) { - createCarQueue(mydoJob2, deviceSrgv, "4", "0"); + createCarQueue(mydoJob, deviceSrgv, "4", "0"); } else { - createCarQueue(mydoJob2, deviceSrgv, "4", "1"); + createCarQueue(mydoJob, deviceSrgv, "4", "1"); } - mydoJob2.setStatus("3"); - mydoJobService.updateMydoJob(mydoJob2); + mydoJob.setStatus("3");//更新小车出库作业状态为正执行 + mydoJobService.updateMydoJob(mydoJob); } else { //别的层的出库作业和入库作业 MydoJob job = null; MydoJob mydoJob3 = new MydoJob(); - mydoJob3.setStatus("3"); mydoJob3.setInOut("1"); + mydoJob3.setStatus("3"); //todo 输送机阶段 + mydoJob3.setExecutionPhase("1"); List mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3); if (!mydoJobs4.isEmpty()) { job = mydoJobs4.get(0); } else { MydoJob mydoJob2 = new MydoJob(); - mydoJob2.setInOut("2"); + mydoJob3.setInOut("2"); mydoJob2.setStatus("1"); List mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2); if (!mydoJobs3.isEmpty()) { @@ -367,14 +360,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //根据任务类型 ，生成队列 if (Convert.toInt(mydoJob.getInOrOut()) < 20) { wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); - wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); createCarQueue(mydoJob, deviceSrgv, "1", "0"); + wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); } else { wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); + createCarQueue(mydoJob, deviceSrgv, "2", "0"); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); mydoJob.setStatus("3");//作业修改为正执行 mydoJobService.updateMydoJob(mydoJob); - createCarQueue(mydoJob, deviceSrgv, "2", "0"); } } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())) { wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); @@ -419,18 +412,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap(); //TODO 小车取货之后会不会退出来，会退出来是4 不会退出来是3 wcsSrgvMap1.setTheRow(4); - wcsSrgvMap1.setTheColumn(5); + wcsSrgvMap1.setTheColumn(6); wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); List wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); //点到点任务 if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "4".equals(taskType)) { wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setEndSite("tsj"); - //入库的点到点直接进入提升机 不选停靠点 default03 是0305 + //入库的点到点直接进入提升机 不选停靠点 default03 是0306 wcsSrgvMap1.setTheRow(3); - wcsSrgvMap1.setTheColumn(5); + wcsSrgvMap1.setTheColumn(6); wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); + wcsSrgvQueue.setCargoPickSite("tsj"); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); } else if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "1".equals(taskType)) { wcsSrgvQueue.setStartSite("tsj"); @@ -438,9 +432,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId()); List wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId()); - //入库的点到点从030501 到目标货位 + //入库的点到点从030601 到目标货位 wcsSrgvMap1.setTheRow(3); - wcsSrgvMap1.setTheColumn(5); + wcsSrgvMap1.setTheColumn(6); wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); @@ -495,7 +489,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { && deviceSrgv.getAllowSend() == 1 //允许下发 ) { //处理tsj站点 换层去提升机前 入库去提升机里 出库去提升机里 - String startSite = getSite(wcsSrgvQueue.getStartSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType()); String endSite = getSite(wcsSrgvQueue.getEndSite(), wcsSrgvQueue.getTheFloor(), wcsSrgvQueue.getTaskType()); String currSite = deviceSrgv.getCurrSite(); @@ -512,9 +505,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } } } - } - /** * 小车发送点对点任务 */ @@ -631,13 +622,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (endSite.equals("tsj")) { switch (wcsSrgvQueue.getTheFloor()) { case "1": - endSite = "030501"; + endSite = "030601"; break; case "2": - endSite = "030502"; + endSite = "030602"; break; case "3": - endSite = "030503"; + endSite = "030603"; break; default: break; @@ -646,13 +637,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (startSite.equals("tsj")) { switch (wcsSrgvQueue.getTheFloor()) { case "1": - startSite = "030501"; + startSite = "030601"; break; case "2": - startSite = "030502"; + startSite = "030602"; break; case "3": - startSite = "030503"; + startSite = "030603"; break; default: break; @@ -668,7 +659,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } else { SendData2 path = new SendData2(); path.setAddress("4004");//地址 - path.setData(startSite + "," + endSite); + path.setData(startSite + "," + endSite+",0,0,0,0,0,0"); path.setType(2); sendDataList.add(path); } @@ -766,6 +757,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { boolean b = true; + ScheduleThread scheduleThread = SpringUtils.getBean(ScheduleThread.class); + CustomThread ct = scheduleThread.threadMap.get("plcSrgvReadCustomThread" + deviceSrgv.getDeviceId()); + PlcSrgvRead plcReader = ct != null ? (PlcSrgvRead) ct.getRunnable() : null; + if (plcReader == null) { + return false; + } + for (SendData2 sendData : sendDataList) { String address = sendData.getAddress(); String data = sendData.getData();// @@ -780,7 +778,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { .map(String::trim) .mapToInt(Integer::parseInt) .toArray(); - boolean write = PlcSrgvRead.Write(address, intData); + boolean write = plcReader.write(address, intData); if (!write) { b = false; @@ -802,7 +800,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } } - boolean write = PlcSrgvRead.Write(address, shortData); + boolean write = plcReader.write(address, shortData); if (!write) { b = false; @@ -969,19 +967,47 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); String startSite = null; - //打补丁 出库任务的default03 是040501 提升机前 - if (wcsSrgvQueue.getTaskType().equals("2")) { - startSite = wcsSrgvQueue.getStartSite(); - }else { - startSite = wcsSrgvQueue.getDefault03(); - } + //打补丁 出库任务的default03 是040601 提升机前 +// if (wcsSrgvQueue.getTaskType().equals("4")) { +// startSite = wcsSrgvQueue.getStartSite(); +// } +// if (wcsSrgvQueue.getTaskType().equals("2")) { +// startSite = wcsSrgvQueue.getStartSite(); +// }else { +// if(wcsSrgvQueue.getStartSite().equals("040601")){ +// startSite=wcsSrgvQueue.getStartSite(); +// }else { +// startSite = wcsSrgvQueue.getDefault03(); +// } +// } + startSite = wcsSrgvQueue.getStartSite(); + if (startSite.equals("tsj")){ + startSite=getSite(wcsSrgvQueue.getStartSite(),wcsSrgvQueue.getTheFloor(),wcsSrgvQueue.getTaskType()); + } if (!startSite.equals(currSite)) { wcsSrgvQueue.setIssued("1"); wcsSrgvQueue.setExecutionStatus("3"); wcsSrgvQueue.setStartDate(DateUtil.now()); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo())); + mydoJob.setExecutionPhase("4");//小车搬运 + mydoJobService.updateMydoJob(mydoJob); } + String endSite = wcsSrgvQueue.getEndSite(); + if (endSite.equals("tsj")){ + endSite=getSite(wcsSrgvQueue.getEndSite(),wcsSrgvQueue.getTheFloor(),wcsSrgvQueue.getTaskType()); + } + if (endSite.equals(currSite)) { + wcsSrgvQueue.setIssued("1"); + wcsSrgvQueue.setExecutionStatus("3"); + wcsSrgvQueue.setStartDate(DateUtil.now()); + wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo())); + mydoJob.setExecutionPhase("4");//小车搬运 + mydoJobService.updateMydoJob(mydoJob); + } + } } } @@ -991,13 +1017,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (sitId.equals("tsj")) { switch (floor) { case "1": - sitId = "040501"; + sitId = "040601"; break; case "2": - sitId = "040502"; + sitId = "040602"; break; case "3": - sitId = "040503"; + sitId = "040603"; break; default: break; @@ -1007,13 +1033,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (sitId.equals("tsj")) { switch (floor) { case "1": - sitId = "030501"; + sitId = "030601"; break; case "2": - sitId = "030502"; + sitId = "030602"; break; case "3": - sitId = "030503"; + sitId = "030603"; break; default: break; diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java index 0ebda64..f0f786c 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java @@ -55,6 +55,12 @@ public class SsjThread implements Runnable { } } catch (RuntimeException e) { log.error(e.getMessage(), e); + }finally { + try { + Thread.sleep(1500); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } } } @@ -82,7 +88,14 @@ public class SsjThread implements Runnable { } void inDispatch1(DeviceSsj deviceSsj) { - if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) { + if (deviceSsj.getRkqq() == 1 ) { + if(deviceSsj.getTrayCode().equals("NoRead")||StrUtil.isBlank(deviceSsj.getTrayCode())){ + int i = PlcSsjRead.writeToSsj("0", 11, 1); + if (i == 1) { + log.info(deviceSsj.getDeviceCode() + "未读到条码，下发退回，去向2"); + return; + } + } // 查是否有正执行的出库作业，有退回 MydoJob queryJob = new MydoJob(); queryJob.setStatus("3"); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java index 18abab0..ebc13ae 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java @@ -14,7 +14,9 @@ import com.ruoyi.device.srgv.service.IDeviceSrgvService; import com.ruoyi.device.srgv.service.impl.DeviceSrgvServiceImpl; import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.tsj.domain.DeviceTsj; +import com.ruoyi.job.domain.JobCallBack; import com.ruoyi.job.domain.MydoJob; +import com.ruoyi.job.service.IJobCallBackService; import com.ruoyi.job.service.IMydoJobService; import com.ruoyi.queue.srgv.domain.WcsSrgvQueue; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService; @@ -42,7 +44,7 @@ public class TsjThread implements Runnable { private HashMap inSsjList; private IMydoJobService mydoJobService; private IDeviceSrgvService deviceSrgvService; - + private IJobCallBackService jobCallBackService; public void init() { tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class); @@ -51,6 +53,7 @@ public class TsjThread implements Runnable { wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class); mydoJobService =SpringUtils.getBean(IMydoJobService.class); deviceSrgvService=SpringUtils.getBean(DeviceSrgvServiceImpl.class); + jobCallBackService = SpringUtils.getBean(IJobCallBackService.class); } @Override @@ -64,6 +67,12 @@ public class TsjThread implements Runnable { } } catch (RuntimeException e) { log.error(e.getMessage(), e); + }finally { + try { + Thread.sleep(1500); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } } @@ -76,7 +85,7 @@ public class TsjThread implements Runnable { Long rwh = tsj.getRwh();//任务号 int yxxf = tsj.getYxxf();//允许下发 - if (czfs == 1 && sbzt == 98 && jdbz == 11 && rwh > 999) { + if (czfs == 1 && sbzt == 99 && (jdbz == 0||jdbz == 11||jdbz == 8) && rwh > 999) { //任务完成 finishTask(tsj); } @@ -107,9 +116,11 @@ public class TsjThread implements Runnable { if (CollUtil.isNotEmpty(wcsSrgvQueues)) { WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); String rwlx = ""; + String tarFloor = wcsSrgvQueue.getDefault07(); if ("2".equals(wcsSrgvQueue.getTaskType())) { //出库 rwlx = "2"; + tarFloor="11"; } if ("3".equals(wcsSrgvQueue.getTaskType())) { // @@ -122,8 +133,6 @@ public class TsjThread implements Runnable { TsjDeviceExecutionQueue tsjDeviceExecutionQueueByRwh = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(Convert.toLong(deviceSrgv.getTaskNo())); if (tsjDeviceExecutionQueueByRwh == null && StrUtil.isNotEmpty(rwlx)) { String strFloor = wcsSrgvQueue.getTheFloor(); - String tarFloor = wcsSrgvQueue.getDefault07(); - if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) { //提升机层数和取车任务层数不一致 //todo 判断目标楼层存在不存在其他小车 TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue(); @@ -141,8 +150,6 @@ public class TsjThread implements Runnable { tsjDeviceExecutionQueue.setTaskType("1"); tsjDeviceExecutionQueue.setRwlx(rwlx); tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue); - } - } } } @@ -185,7 +192,7 @@ public class TsjThread implements Runnable { tsjDeviceExecutionQueue.setDeviceName(tsj.getName()); tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(ssj.getTaskNo())); tsjDeviceExecutionQueue.setSrcRow("0"); - tsjDeviceExecutionQueue.setSrcLayer(String.valueOf(tsj.getDqcs())); + tsjDeviceExecutionQueue.setSrcLayer("11"); tsjDeviceExecutionQueue.setTarRow("0"); tsjDeviceExecutionQueue.setTarLayer(theFloor); tsjDeviceExecutionQueue.setSendType("1"); @@ -244,7 +251,7 @@ public class TsjThread implements Runnable { if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) { //完成提升机任务 插入历史表 String senFlag= tsjDeviceExecutionQueue.getSendFlag()==null?"0":"1"; - if (tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))&&senFlag.equals("1")){ + if ((tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))||tsjDeviceExecutionQueue.getTarLayer().equals("11"))&&senFlag.equals("1")){ TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish(); BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish); tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date())); @@ -255,6 +262,19 @@ public class TsjThread implements Runnable { mydoJob.setExecutionPhase("3"); mydoJobService.updateMydoJob(mydoJob); } + if (mydoJob != null&&tsjDeviceExecutionQueue.getRwlx().equals("2")) { + mydoJob.setStatus("4"); + mydoJobService.updateMydoJob(mydoJob); + mydoJobService.insertHistory(mydoJob.getJobId()); + mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId()); + JobCallBack jobCallBack = new JobCallBack(); + jobCallBack.setType("2"); + jobCallBack.setMydojobId(mydoJob.getJobId()); + jobCallBack.setStatus("0"); + jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo())); + jobCallBack.setCreateTime(new Date()); + jobCallBackService.insertJobCallBack(jobCallBack); + } log.info("提升机任务下发完成 taskNo{} 任务类型:{}", tsj.getRwh(), "提升机任务"); } } diff --git a/ruoyi-admin/src/main/resources/application-druid.yml b/ruoyi-admin/src/main/resources/application-druid.yml index 0e35227..72e611f 100644 --- a/ruoyi-admin/src/main/resources/application-druid.yml +++ b/ruoyi-admin/src/main/resources/application-druid.yml @@ -6,7 +6,7 @@ spring: druid: #主数据信息 master: - url: jdbc:sqlserver://172.16.2.170:1433;databaseName=FT542-wcs; + url: jdbc:sqlserver://192.168.10.200:1433;databaseName=FT542-wcs; username: sa password: Flrd0914. # 从库数据源 diff --git a/ruoyi-admin/src/main/resources/application.yml b/ruoyi-admin/src/main/resources/application.yml index 12cbaa5..797d48e 100644 --- a/ruoyi-admin/src/main/resources/application.yml +++ b/ruoyi-admin/src/main/resources/application.yml @@ -68,7 +68,7 @@ spring: # redis 配置 redis: # 地址 - host: 172.16.2.170 + host: 192.168.10.200 # 端口，默认为6379 port: 6379 # 数据库索引 diff --git a/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml b/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml index 9aa6730..10ef7a7 100644 --- a/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml +++ b/ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml @@ -55,6 +55,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" and the_floor = #{theFloor} and product_id = #{productId} and product_name like concat('%', #{productName}, '%') + and in_or_out < 20 + and in_or_out >= 20 @@ -262,6 +264,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" +