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充电桩逻辑

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liuhanqing
2025-12-05 16:49:05 +08:00
parent 3a57df8e8d
commit 8db3a61515
3 changed files with 155 additions and 77 deletions
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9
ruoyi-admin/src/main/java/com/ruoyi/job/charg/domain/SrgvChargingJob.java
View File

@@ -50,6 +50,15 @@ public class SrgvChargingJob extends BaseEntity
@Excel(name = "充电桩编号")
private String chargingId;
private String taskNo;
public String getTaskNo() {
return taskNo;
}
public void setTaskNo(String taskNo) {
this.taskNo = taskNo;
}
public void setGuid(String guid)
{
this.guid = guid;

97
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -11,6 +11,7 @@ import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
import com.ruoyi.bas.srgvmap.service.RoadCacheService;
import com.ruoyi.common.domain.SendData2;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.cdz.domain.DeviceCdz;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.srgv.service.IDeviceSrgvService;
import com.ruoyi.device.tsj.domain.DeviceTsj;
@@ -23,6 +24,7 @@ import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueue;
import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
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;
@@ -98,7 +100,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
createCarQueue(deviceSrgv);
inCharging(deviceSrgv);
outCharging(deviceSrgv);
@@ -129,7 +130,25 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
* @param deviceSrgv
*/
private void outCharging(DeviceSrgv deviceSrgv) {
SrgvChargingJob param = new SrgvChargingJob();
param.setJobStatus("1");
param.setJobType("2");
param.setAgvId(deviceSrgv.getDeviceId().toString());
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
if (CollUtil.isNotEmpty(srgvChargingJobs)) {
for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
String chargingId = srgvChargingJob.getChargingId();
DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId);
if (ObjUtil.isNotNull(deviceCdz)){
//下发断电任务
int i = PlcCdzRead.WriteToCdz("", null);
if (i == 1){
srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid());
srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
}
}
}
}
}
@@ -146,12 +165,45 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
if (CollUtil.isNotEmpty(srgvChargingJobs)) {
SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0);
if ("1".equals(srgvChargingJob.getChargingStatus())){
//初始状态
//判断小车和充电桩是否在同一层
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())){
//生成四向小车充电队列
String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)) {
//生成队列
createSrgvChargingQueue(deviceSrgv, chargingSite,"8");
srgvChargingJob.setJobStatus("3");
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
}
}else {
//生成四向小车换层队列
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString());
String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)) {
createSrgvChargingQueue(deviceSrgv, chargingSite,"4");
srgvChargingJob.setJobStatus("2");
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
}
}
}
}
}
private void createSrgvChargingQueue(DeviceSrgv deviceSrgv, String chargingSite,String type) {
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo("");
@@ -163,12 +215,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setCargoPickSite("");
wcsSrgvQueue.setCargoPlaceSite("");
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
if (wcsSrgvMap.getTheLayer().equals(deviceSrgv.getCurrFloor())) {
wcsSrgvQueue.setEndSite(chargingSite);
} else {
if ("4".equals(type)){
wcsSrgvQueue.setEndSite("tsj");
}else if ("8".equals(type)){
wcsSrgvQueue.setEndSite(chargingSite);
}
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -177,8 +228,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setDefault07(Convert.toStr(wcsSrgvMap.getZ()));
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
}
/**
* 四向小车任务处理
@@ -291,7 +340,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
} else{
if ( "1".equals(wcsSrgvQueue.getIssued())) {
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo()));
if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && wcsSrgvQueue.getTaskType().equals("1")) {
if (mydoJob != null){
if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "1".equals(wcsSrgvQueue.getTaskType())) {
// todo 通知wms入库完成 完成队列 完成作业
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
@@ -299,14 +349,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
mydoJobService.insertHistory(mydoJob.getJobId());
mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
} else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("2")) {
} else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "2".equals(wcsSrgvQueue.getTaskType())) {
//完成队列 更新作业阶段
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
//提升机修改阶段
// mydoJob.setExecutionPhase("");
// mydoJobService.updateMydoJob(mydoJob);
} else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("4")) {
} else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "4".equals(wcsSrgvQueue.getTaskType())) {
//根据任务类型 ，生成队列
if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
@@ -318,17 +368,36 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
createCarQueue(mydoJob, deviceSrgv, "2","0");
}
}else if(deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && wcsSrgvQueue.getTaskType().equals("8")){
}else if(deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())){
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
}else if ( deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && wcsSrgvQueue.getTaskType().equals("3")) {
//充电任务
}
}else {
//查询充电任务
SrgvChargingJob srgvChargingJob = new SrgvChargingJob();
srgvChargingJob.setAgvId(String.valueOf(wcsSrgvQueue.getAgvId()));
srgvChargingJob.setTaskNo(wcsSrgvQueue.getTaskNo());
srgvChargingJob.setJobStatus("2");
srgvChargingJob.setJobType("1");
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob);
if (!srgvChargingJobs.isEmpty()){
SrgvChargingJob srgvChargingJob1 = srgvChargingJobs.get(0);
if ( deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "4".equals(wcsSrgvQueue.getTaskType())) {
//查询换层任务
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
//修改充电任务
srgvChargingJob1.setJobStatus("1");
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob1);
}
}
}
}
}
// }

4
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
View File

@@ -129,11 +129,11 @@ public class TsjThread implements Runnable {
if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
String rwlx = "";
if ("2".equals(wcsSrgvQueue.getDefault02())){
if ("2".equals(wcsSrgvQueue.getTaskType())){
//出库
rwlx = "1";
}
if ("4".equals(wcsSrgvQueue.getDefault02()) || "3".equals(wcsSrgvQueue.getDefault02()) || "8".equals(wcsSrgvQueue.getDefault02())){
if ( "3".equals(wcsSrgvQueue.getTaskType()) || "8".equals(wcsSrgvQueue.getTaskType())){
//
rwlx = "2";
}