From d8412ac3cc7e75fc8b6b263929e034418401e8b9 Mon Sep 17 00:00:00 2001 From: zgw <13623675548@163.com> Date: Thu, 18 Dec 2025 10:40:00 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=20+=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/service/impl/TestServiceImpl.java | 6 +- .../service/impl/RoadCacheServiceImpl.java | 2 +- .../com/ruoyi/common/domain/SendData2.java | 9 + .../ruoyi/device/ssj/domain/DeviceSsj.java | 5 + .../job/controller/JobCallBackController.java | 2 +- .../com/ruoyi/schedule/ScheduleThread.java | 78 ++--- .../schedule/plcRead/srgv/PlcSrgvRead.java | 75 ++--- .../schedule/plcRead/ssj/PlcSsjRead.java | 265 +++++++-------- .../schedule/plcRead/tsj/PlcTsjRead.java | 140 ++++++-- .../scheduleTask/monit/MonitoringThread.java | 19 +- .../scheduleTask/srgv/BaseSRgvThread.java | 314 +++++++++++------- .../schedule/scheduleTask/ssj/SsjThread.java | 132 ++++---- .../schedule/scheduleTask/tsj/TsjThread.java | 229 ++++++------- .../mapper/device/DeviceSsjMapper.xml | 12 +- 14 files changed, 701 insertions(+), 587 deletions(-) diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/TestServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/TestServiceImpl.java index bc4bf2e..ac56161 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/TestServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/TestServiceImpl.java @@ -39,7 +39,8 @@ public class TestServiceImpl implements ITestService { SendData xtxh = new SendData(Tools.INT, msgDdj.getXtxh()); SendData trayCode = new SendData(Tools.INT, Convert.toInt(msgDdj.getSpare2())); byte[] bytes = Tools.sendData(czfs, sbzt, rwh, hczt, jdbz, yph, ylh, ych, mbph, mblh, mbch, yxxf, xtxh, trayCode); - int i = PlcSsjRead.WriteToSSJ("DB41.0", bytes); +// int i = PlcSsjRead.WriteToSSJ("DB41.0", bytes); + int i = 1; if (i == 1) { System.out.println("写入成功"); return true; @@ -59,7 +60,8 @@ public class TestServiceImpl implements ITestService { byte[] bytes = Tools.sendData(kx, dw, rkqq, taskNo); - int i = PlcSsjRead.WriteToSSJ(deviceSsj.getPlcDbReadAddress(), bytes); +// int i = PlcSsjRead.WriteToSSJ(deviceSsj.getPlcDbReadAddress(), bytes); + int i = 1; if (i == 1) { System.out.println("写入成功"); return true; diff --git a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java index 7a45d25..3c8d73e 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java @@ -61,7 +61,7 @@ public class RoadCacheServiceImpl implements RoadCacheService { //3.锁定离线小车当前位置 lockedOfflineCarCurrSite(maps, deviceSrgv); - int[][] mapsInt = new int[29][11]; + int[][] mapsInt = new int[29][15]; for (String site : maps.keySet()) { WcsSrgvMap wcsSrgvMap = maps.get(site); mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue(); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/common/domain/SendData2.java b/ruoyi-admin/src/main/java/com/ruoyi/common/domain/SendData2.java index 9f2ca36..d965659 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/common/domain/SendData2.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/common/domain/SendData2.java @@ -11,6 +11,15 @@ public class SendData2 { private int type;//1单字 2双字 3字符串 + public SendData2(String address, String data, int type) { + this.address = address; + this.data = data; + this.type = type; + } + public SendData2(){ + + } + public String getAddress() { return address; } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java b/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java index 1b0b92a..4b419eb 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java @@ -84,6 +84,11 @@ public class DeviceSsj extends BaseEntity @Excel(name="输送线模式 1-入库 2-出库") private int model; + @Excel(name = "操作模式") + private int czms; + + @Excel(name = "入库到位") + private int rkdw; } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java b/ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java index 7759fc1..2a8e464 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java @@ -104,7 +104,7 @@ public class JobCallBackController extends BaseController return toAjax(jobCallBackService.deleteJobCallBackByIds(ids)); } - //@Scheduled(fixedDelay=1500) + @Scheduled(fixedDelay=1500) public void jobCallBack() { jobCallBackService.jobCallBack(); } 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 5fe2379..0386f0a 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java @@ -1,5 +1,6 @@ package com.ruoyi.schedule; +import HslCommunication.Core.Types.OperateResultExOne; import com.ruoyi.common.domain.CustomThread; import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.device.ddj.domain.MsgDdj; @@ -8,9 +9,12 @@ import com.ruoyi.device.srgv.domain.DeviceSrgv; import com.ruoyi.device.srgv.service.IDeviceSrgvService; import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.ssj.service.IDeviceSsjService; +import com.ruoyi.device.tsj.domain.DeviceTsj; +import com.ruoyi.device.tsj.service.impl.DeviceTsjServiceImpl; import com.ruoyi.schedule.plcRead.ddj.PlcDdjRead; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; +import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead; import com.ruoyi.schedule.scheduleTask.cdz.CdzThread; import com.ruoyi.schedule.scheduleTask.ddj.impl.Ddj1Thread; import com.ruoyi.schedule.scheduleTask.monit.MonitoringThread; @@ -31,6 +35,7 @@ import java.util.concurrent.ConcurrentHashMap; public class ScheduleThread { public CustomThread plcSsjReadCustomThread; + public CustomThread plcTsjReadCustomThread; public CustomThread plcSrgvReadCustomThread1; public CustomThread plcSrgvReadCustomThread2; public CustomThread plcSrgvReadCustomThread3; @@ -53,6 +58,8 @@ public class ScheduleThread { private boolean isRun = false; private boolean isRun2 = false; + @Autowired + private DeviceTsjServiceImpl deviceTsjServiceImpl; /** * 项目初始化启动 @@ -66,51 +73,50 @@ public class ScheduleThread { scheduleInit(); log.info("调度服务执行成功"); } - /** * 调度初始化 */ private void scheduleInit() { - MonitoringThread monitoringThread = new MonitoringThread(); - monitoringCustomThread = new CustomThread(new Thread(monitoringThread), monitoringThread); + //输送机线程 SsjThread ssjThread=new SsjThread(); ssjThreadCustomThread=new CustomThread(new Thread(ssjThread),ssjThread); +// //四向车线程 SRgv1Thread srgvThread=new SRgv1Thread(); sRgvThreadCustomThread=new CustomThread<>(new Thread(srgvThread),srgvThread); + //提升机线程 TsjThread tsjThread=new TsjThread(); tsjThreadCustomThread=new CustomThread<>(new Thread(tsjThread),tsjThread); - CdzThread cdzThread = new CdzThread(); - cdzThreadCustomThread=new CustomThread<>(new Thread(cdzThread),cdzThread); - // Ddj1Thread ddj1Thread = new Ddj1Thread(); -// ddj1CustomThread = new CustomThread<>(new Thread(ddj1Thread), ddj1Thread); - /*Ddj2Thread ddj2Thread = new Ddj2Thread(); - ddj2CustomThread = new CustomThread<>(new Thread(ddj2Thread), ddj2Thread); - Ddj3Thread ddj3Thread = new Ddj3Thread(); - ddj3CustomThread = new CustomThread<>(new Thread(ddj3Thread), ddj3Thread); - Ddj4Thread ddj4Thread = new Ddj4Thread(); - ddj4CustomThread = new CustomThread<>(new Thread(ddj4Thread), ddj4Thread); - Ddj5Thread ddj5Thread = new Ddj5Thread(); - ddj5CustomThread = new CustomThread<>(new Thread(ddj5Thread), ddj5Thread); - Ddj6Thread ddj6Thread = new Ddj6Thread(); - ddj6CustomThread = new CustomThread<>(new Thread(ddj6Thread), ddj6Thread);*/ +// //充电线程 +// CdzThread cdzThread = new CdzThread(); +// cdzThreadCustomThread=new CustomThread<>(new Thread(cdzThread),cdzThread); } - /** * plc读取初始化 */ private void plcReadInit() { + ConcurrentHashMap ssjList = new ConcurrentHashMap<>(); - //获取要去取的输送机 + //获取要取的输送机 List deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj()); for (DeviceSsj deviceSsj : deviceSsjs) { ssjList.put(deviceSsj.getDeviceCode(), deviceSsj); } - //plc输送机读取线程 - PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 102)); + PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 1502)); Thread plcSsjReadThread = new Thread(plcSsjRead); plcSsjReadCustomThread = new CustomThread(plcSsjReadThread, plcSsjRead); + ConcurrentHashMap tsjList = new ConcurrentHashMap<>(); + //获取要取的提升机 + List tsjLists = deviceTsjServiceImpl.selectDeviceTsjList(new DeviceTsj()); + for (DeviceTsj t : tsjLists) { + 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)); + Thread plcTsjReadThread = new Thread(plcTsjRead); + plcTsjReadCustomThread = new CustomThread(plcTsjReadThread, plcTsjRead); + ConcurrentHashMap srgvList = new ConcurrentHashMap<>(); List srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv()); for(DeviceSrgv srgv:srgvs){ @@ -126,17 +132,12 @@ public class ScheduleThread { Thread plcSrgvReadThread2 = new Thread((plcSrgvRead2)); plcSrgvReadCustomThread2=new CustomThread(plcSrgvReadThread2,plcSrgvRead2); break; - /*case 3: - PlcSrgvRead plcSrgvRead3=new PlcSrgvRead(srgv,new PlcConnectInfo(srgv.getIp(),srgv.getPort())); - Thread plcSrgvReadThread3 = new Thread((plcSrgvRead3)); - plcSrgvReadCustomThread3=new CustomThread(plcSrgvReadThread3,plcSrgvRead3); - break;*/ } - } PlcSrgvRead.deviceSrgvMap=srgvList; - - + //监控线程 + MonitoringThread monitoringThread = new MonitoringThread(); + monitoringCustomThread = new CustomThread(new Thread(monitoringThread), monitoringThread); } /** @@ -145,10 +146,9 @@ public class ScheduleThread { public void startAllThread() { plcSsjReadCustomThread.getThread().start(); plcSrgvReadCustomThread1.getThread().start(); - //plcSrgvReadCustomThread2.getThread().start(); - //plcSrgvReadCustomThread3.getThread().start(); - - +// plcSrgvReadCustomThread2.getThread().start(); + plcTsjReadCustomThread.getThread().start(); + monitoringCustomThread.getThread().start(); isRun = true; } @@ -156,17 +156,10 @@ public class ScheduleThread { * 开启线程2 */ public void startAllThread2() { - monitoringCustomThread.thread.start(); ssjThreadCustomThread.thread.start(); - //tsjThreadCustomThread.thread.start(); + tsjThreadCustomThread.thread.start(); sRgvThreadCustomThread.thread.start(); //cdzThreadCustomThread.thread.start(); -// ddj1CustomThread.thread.start(); - /*ddj2CustomThread.thread.start(); - ddj3CustomThread.thread.start(); - ddj4CustomThread.thread.start(); - ddj5CustomThread.thread.start(); - ddj6CustomThread.thread.start();*/ isRun2 = true; } @@ -175,7 +168,7 @@ public class ScheduleThread { */ public void stopAllThread() { plcSsjReadCustomThread.runnable.isRun = false; -// plcDdj1ReadCustomThread.runnable.isRun = false; +// plcDdj1ReadCustomThread.runnable.isRun = false; /* plcDdj2ReadCustomThread.runnable.isRun = false; plcDdj3ReadCustomThread.runnable.isRun = false; plcDdj4ReadCustomThread.runnable.isRun = false; @@ -209,4 +202,5 @@ public class ScheduleThread { map.put("isRun2",isRun2); return map; } + } 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 0202b11..1b64df4 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 @@ -39,14 +39,14 @@ public class PlcSrgvRead implements Runnable { this.station = (byte) 1; } - public static boolean Write(String address, int[] value){ + public static boolean Write(String address, int[] value) { OperateResult write = modbusTcpNet.Write(address, value); return write.IsSuccess; } - public static boolean Write(String address, short[] value){ + public static boolean Write(String address, short[] value) { OperateResult write = modbusTcpNet.Write(address, value); return write.IsSuccess; @@ -58,26 +58,14 @@ public class PlcSrgvRead implements Runnable { public void run() { while (isRun) { try { - /*if (IsConnect()) { - - *//*if (deviceSrgv != null) { - //readSrgvPlc(deviceSrgv); - - }*//* - + if (IsConnect()) { + if (deviceSrgv != null) { + readSrgvPlc(deviceSrgv); + } } else { reConnect(); - }*/ - //todo 测试使用 - IDeviceSrgvService deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class); - List srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv()); - ConcurrentHashMap srgvList = new ConcurrentHashMap<>(); - for(DeviceSrgv srgv:srgvs){ - srgvList.put(srgv.getDeviceId().toString(),srgv); } - PlcSrgvRead.deviceSrgvMap=srgvList; - - Thread.sleep(1000); + Thread.sleep(1500); } catch (InterruptedException e) { // 捕获中断异常，退出循环 Thread.currentThread().interrupt(); // 重新设置中断标志 @@ -90,20 +78,20 @@ public class PlcSrgvRead implements Runnable { } private void readSrgvPlc(DeviceSrgv deviceSrgv) { - OperateResultExOne read1 = modbusTcpNet.Read("2400", (short) 15);//2400-2414 + OperateResultExOne read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414 if (read1.IsSuccess) { setValueByByte1(read1.Content, deviceSrgv); } //读取双字 - OperateResultExOne read2 = modbusTcpNet.Read("4800", (short) 8);// 4800-4807任务号、原点、目标点、当前 + OperateResultExOne read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前 if (read2.IsSuccess) { setValueByByte2(read2.Content, deviceSrgv); } - //读取双字，路径 - OperateResultExOne read3 = modbusTcpNet.Read("5000", (short) 800);// 5000-5799 路径 400个 - setValueByByte3(read3.Content, deviceSrgv); +// //读取双字，路径 +// OperateResultExOne read3 = modbusTcpNet.Read("5000", (short) 800);// 5000-5799 路径 400个 +// setValueByByte3(read3.Content, deviceSrgv); } //单字 @@ -113,33 +101,34 @@ public class PlcSrgvRead implements Runnable { agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4))); agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6))); agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8))); - agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10))); - agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 12))); - agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 14))); - agvData.setErrMsg(Convert.toInt(byteTransform.TransInt16(content, 16))); - agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 18))); - agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 20))); - agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt16(content, 22))); - agvData.setManualCharge(Convert.toInt(byteTransform.TransInt16(content, 24))); - agvData.setSpare1(Convert.toStr(byteTransform.TransInt16(content, 0))); - agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 16))); - - + //接收完成标志 + // agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10))); + agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 12))); + agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 14))); + agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 16))); + agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 18))); + agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 20))); + agvData.setSpare2(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 22)))); + agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 24)));//换层标志 } private void setValueByByte2(byte[] content, DeviceSrgv agvData) { byteTransform.setDataFormat(DataFormat.CDAB); // TODO 注意双字反转 agvData.setTaskNo(byteTransform.TransInt32(content, 0)); + log.info("=====读取到SRGV任务号:{}=======", agvData.getTaskNo()); agvData.setSrcSite(String.format("%06d", byteTransform.TransInt32(content, 4))); + log.info("=====读取到SRGV源站点:{}=======", agvData.getSrcSite()); agvData.setTarSite(String.format("%06d", byteTransform.TransInt32(content, 8))); + log.info("=====读取到SRGV目标站点:{}=======", agvData.getTarSite()); agvData.setCurrSite(String.format("%06d", byteTransform.TransInt32(content, 12))); + log.info("=====读取到SRGV当前站点:{}=======", agvData.getCurrSite()); //设置库区 - String currSite = agvData.getCurrSite(); + String currSite = String.format("%06d", byteTransform.TransInt32(content, 12)); String l = currSite.substring(2, 4); //截取cur的后俩位，获取当前楼层 - int floor = FloorUtils.extractFloor(Integer.parseInt(agvData.getCurrSite())); + int floor = FloorUtils.extractFloor(Integer.parseInt(String.format("%06d", byteTransform.TransInt32(content, 12)))); this.layer = floor; agvData.setCurrFloor(floor); } @@ -200,7 +189,7 @@ public class PlcSrgvRead implements Runnable { void reConnect() { closeServer(); ConnectServer(); - log.info("重新连接 SSJ-PLC"); + log.info("重新连接 四象车-PLC"); } void closeServer() { @@ -210,5 +199,13 @@ public class PlcSrgvRead implements Runnable { setIsConnect(false); } + public String getSite(String siteId){ + if (siteId.equals("030502")||siteId.equals("030501")||siteId.equals("030503")){ + 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 bfdaf2d..0a916f8 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 @@ -2,24 +2,34 @@ package com.ruoyi.schedule.plcRead.ssj; import HslCommunication.BasicFramework.SoftBasic; import HslCommunication.Core.Net.IReadWriteNet; +import HslCommunication.Core.Transfer.DataFormat; +import HslCommunication.Core.Transfer.IByteTransform; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; +import HslCommunication.ModBus.ModbusTcpNet; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; +import cn.hutool.core.convert.Convert; import com.ruoyi.common.domain.SendData; +import com.ruoyi.common.domain.SendData2; import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.device.ddj.domain.MsgDdj; +import com.ruoyi.device.srgv.domain.DeviceSrgv; import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.common.domain.HslRead; import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.device.ssj.service.impl.DeviceSsjServiceImpl; +import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.util.ParseUtil; import com.ruoyi.schedule.plcRead.util.Tools; import lombok.extern.slf4j.Slf4j; +import org.apache.commons.beanutils.LazyDynaClass; +import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.concurrent.ConcurrentHashMap; +import java.util.stream.Collectors; @Slf4j public class PlcSsjRead implements Runnable { @@ -27,59 +37,47 @@ public class PlcSsjRead implements Runnable { public static ConcurrentHashMap deviceSsjMap; public volatile boolean isRun = true; - public SiemensS7Net siemensS7Net = null; public static IReadWriteNet readWriteNet = null; private final String ip; private final int port; private boolean success = false; + private DeviceSsj ssjDevice; + private static ModbusTcpNet modbusTcpNet; + private IByteTransform byteTransform = null; public PlcSsjRead(ConcurrentHashMap deviceSsjMap, PlcConnectInfo plcConnectInfo) { PlcSsjRead.deviceSsjMap = deviceSsjMap; + ssjDevice = deviceSsjMap.get("L1001"); this.ip = plcConnectInfo.getIp(); 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; + public static boolean Write(String address, int[] value) { + + OperateResult write = modbusTcpNet.Write(address, value); + return write.IsSuccess; + + } + + public static boolean Write(String address, short[] value) { + + OperateResult write = modbusTcpNet.Write(address, value); + return write.IsSuccess; + } @Override public void run() { while (isRun) { try { - /*if (IsConnect()) { - int step = 20; - int baseOffset = 0; - *//*for (String ssjCode : deviceSsjMap.keySet()) { - DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode); - switch (ssjDevice.getType()) { - case "1": - readPlcLineSsj(ssjDevice); - break; - case "2": - readPlcInOutSsj(ssjDevice); - break; - case "3": - readPlcOtherSsj(ssjDevice); - break; - } - }*//* - + if (IsConnect()) { + if (ssjDevice != null) { + readPlcLineSsj(ssjDevice); + } } else { reConnect(); - }*/ - DeviceSsjServiceImpl deviceSsjService = SpringUtils.getBean(DeviceSsjServiceImpl.class); - List deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj()); - ConcurrentHashMap ssjList = new ConcurrentHashMap<>(); - for (DeviceSsj deviceSsj : deviceSsjs) { - ssjList.put(deviceSsj.getDeviceCode(), deviceSsj); } - PlcSsjRead.deviceSsjMap = ssjList; - Thread.sleep(1000); + Thread.sleep(1500); } catch (InterruptedException e) { // 捕获中断异常，退出循环 Thread.currentThread().interrupt(); // 重新设置中断标志 @@ -92,111 +90,73 @@ public class PlcSsjRead implements Runnable { } /** - * 其他输送机 - * - * @param ssjDevice - */ - private void readPlcOtherSsj(DeviceSsj ssjDevice) { - OperateResultExOne read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20")); - String ddsx1 = "0"; - if (read2.IsSuccess) { - ddsx1 = SoftBasic.ByteToHexString(read2.Content); - ssjDevice.setKx(ParseUtil.optInt(0, ddsx1)); - ssjDevice.setDw(ParseUtil.optInt(2, ddsx1)); - ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1)); - } - } - - /** - * 巷道输送机 - * - * @param ssjDevice - */ - private void readPlcRoadWaySsj(DeviceSsj ssjDevice) { - OperateResultExOne read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20")); - String ddsx1 = "0"; - if (read2.IsSuccess) { - ddsx1 = SoftBasic.ByteToHexString(read2.Content); - ssjDevice.setKx(ParseUtil.optInt(0, ddsx1)); - ssjDevice.setDw(ParseUtil.optInt(2, ddsx1)); - ssjDevice.setRkqq(ParseUtil.optInt(4, ddsx1)); - ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1)); - } - } - - /** - * 入出库输送机 - * - * @param ssjDevice - */ - private void readPlcInOutSsj(DeviceSsj ssjDevice) { - OperateResultExOne read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20")); - String ddsx1 = "0"; - if (read2.IsSuccess) { - ddsx1 = SoftBasic.ByteToHexString(read2.Content); - ssjDevice.setKx(ParseUtil.optInt(0, ddsx1)); - ssjDevice.setDw(ParseUtil.optInt(2, ddsx1)); - ssjDevice.setException(ParseUtil.optInt(4, ddsx1)); - ssjDevice.setAllowPut(ParseUtil.optInt(6, ddsx1)); - ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1)); - - } - } - - /** - * 产线输送机 + * L1001输送机 操作模式 任务号 空闲 设备状态 条码 称重 请求入库 出库到位 * * @param ssjDevice */ private void readPlcLineSsj(DeviceSsj ssjDevice) { - OperateResultExOne read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("220")); - String ddsx1 = "0"; - if (read2.IsSuccess) { - ddsx1 = SoftBasic.ByteToHexString(read2.Content); - ssjDevice.setKx(ParseUtil.optInt(0, ddsx1)); - ssjDevice.setDw(ParseUtil.optInt(2, ddsx1)); - ssjDevice.setRkqq(ParseUtil.optInt(4, ddsx1)); - ssjDevice.setTraySize(ParseUtil.optInt(6, ddsx1)); - ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1)); - - String trayCodeReadAddress=""; - switch (ssjDevice.getDeviceCode()){ - case "G1005": - trayCodeReadAddress = "DB502.0"; - break; - case "L2012": - trayCodeReadAddress = "DB503.0"; - break; - case "L2013": - trayCodeReadAddress = "DB504.0"; - break; - } - OperateResultExOne trayCodeRead = readWriteNet.Read(trayCodeReadAddress, Short.parseShort("220")); - if (trayCodeRead.IsSuccess){ - byte[] content = trayCodeRead.Content; - //去除bytes中 - ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content)); - } + OperateResultExOne read1 = modbusTcpNet.Read("1110", (short) 1);//1110 操作模式 + if (read1.IsSuccess) { + ssjDevice.setCzms(Convert.toInt(byteTransform.TransInt16(read1.Content, 0))); + log.info("=====读取到输送机操作模式:{}======", Convert.toInt(byteTransform.TransInt16(read1.Content, 0))); + }else { + success =false; } + OperateResultExOne read2 = modbusTcpNet.Read("1111", (short) 2);//1111 任务号 + if (read2.IsSuccess) { + byteTransform.setDataFormat(DataFormat.CDAB); + // TODO 注意双字反转 + ssjDevice.setTaskNo(byteTransform.TransInt32(read2.Content, 0)); + log.info("=====读取到输送机任务号:{}=======", byteTransform.TransInt32(read2.Content, 0)); + } + OperateResultExOne read3 = modbusTcpNet.Read("1113", (short) 2);//1113 空闲 1114 设备状态 + if (read3.IsSuccess) { + ssjDevice.setKx(Convert.toInt(byteTransform.TransInt16(read3.Content, 0))); + log.info("=====读取到输送机空闲:{}=======", Convert.toInt(byteTransform.TransInt16(read3.Content, 0))); + log.info("=====读取到输送机设备状态:{}=======", Convert.toInt(byteTransform.TransInt16(read3.Content, 2))); + } + 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); + } + String barcode = sb.toString(); + ssjDevice.setTrayCode(barcode); + log.info("=====读取到输送机条码:{}=======", barcode); + } + OperateResultExOne read5 = modbusTcpNet.Read("1131", (short) 2);//1115 称重 + if (read5.IsSuccess) { + byteTransform.setDataFormat(DataFormat.CDAB); + log.info("=====读取到输送机称重:{}=======", byteTransform.TransInt32(read5.Content, 0)); + } + OperateResultExOne read6 = modbusTcpNet.Read("1133", (short) 3);//1133 请求入库 1134 出库到位 + if (read6.IsSuccess) { + ssjDevice.setRkqq(Convert.toInt(byteTransform.TransInt16(read6.Content, 0))); + log.info("=====读取到输送机入库请求:{}=======", Convert.toInt(byteTransform.TransInt16(read6.Content, 0))); + ssjDevice.setDw(Convert.toInt(byteTransform.TransInt16(read6.Content, 2))); + log.info("=====读取到输送机出库到位:{}=======", Convert.toInt(byteTransform.TransInt16(read6.Content, 2))); + ssjDevice.setRkdw(Convert.toInt(byteTransform.TransInt16(read6.Content, 4))); + log.info("=====读取到输送机入库到位:{}=======", Convert.toInt(byteTransform.TransInt16(read6.Content, 2))); + } + } - - void ConnectServer() { - siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500); + modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象 try { - siemensS7Net.setIpAddress(this.ip); - siemensS7Net.setPort(this.port); - siemensS7Net.setRack((byte) 0); - siemensS7Net.setSlot((byte) 1); - - OperateResult connect = siemensS7Net.ConnectServer(); + modbusTcpNet.setIpAddress(this.ip); + modbusTcpNet.setPort(this.port); + modbusTcpNet.setStation((byte) 1); + this.byteTransform = modbusTcpNet.getByteTransform(); + OperateResult connect = modbusTcpNet.ConnectServer(); if (connect.IsSuccess) { setIsConnect(true); - readWriteNet = siemensS7Net; + readWriteNet = modbusTcpNet; } } catch (Exception ex) { - log.info("********IP:" + this.ip + " port:" + this.port + "连接失败 " + ex.getMessage()); + log.info("********IP:{} port:{}SSJ连接失败 {}", this.ip, this.port, ex.getMessage()); } } @@ -217,7 +177,7 @@ public class PlcSsjRead implements Runnable { void reConnect() { closeServer(); ConnectServer(); - log.info("重新连接 SSJ-PLC"); + log.info("重新连接输送机-PLC"); } void closeServer() { @@ -227,18 +187,45 @@ public class PlcSsjRead implements Runnable { setIsConnect(false); } - public static int writeToSsj(String address, String taskNo, int qx , int completed) { - - int jym = Tools.getJYM(Integer.parseInt(taskNo), qx, completed); - SendData taskNoSendData = new SendData(Tools.INT, taskNo); - SendData qxSendData = new SendData(Tools.INT, qx); - SendData completedSendData = new SendData(Tools.INT, completed); - SendData jymSendData = new SendData(Tools.INT, jym); - byte[] bytes = Tools.sendData(taskNoSendData, qxSendData, completedSendData, jymSendData); - return PlcSsjRead.WriteToSSJ(address, bytes); + public static int writeToSsj(String taskNo, int qx, int completed) { + List sendDataList = new ArrayList<>(); + sendDataList.add(new SendData2("1100", taskNo, 2)); + sendDataList.add(new SendData2("1102", String.valueOf(qx), 1)); + sendDataList.add(new SendData2("1103", String.valueOf(completed), 1)); + int b = 1; + for (SendData2 sendData : sendDataList) { + String address = sendData.getAddress(); + String data = sendData.getData(); + String[] split = data.split(","); + int type = sendData.getType(); + if (type == 2) { + int[] intData = Arrays.stream(split) + .map(String::trim) + .mapToInt(Integer::parseInt) + .toArray(); + boolean write = PlcSsjRead.Write(address, intData); + if (!write) { + b = 0; + break; + } + } else if (type == 1) { + short[] shortData = new short[split.length]; + for (int i = 0; i < split.length; i++) { + try { + shortData[i] = Short.parseShort(split[i].trim()); + } catch (NumberFormatException e) { + shortData[i] = 0; + } + } + boolean write = PlcSsjRead.Write(address, shortData); + if (!write) { + b = 0; + break; + } + } + } + String collect = sendDataList.stream().map(li -> "{" + li.getAddress() + ":" + li.getData() + "}").collect(Collectors.joining(",")); + log.info("输送机下发完成,下发值：{},,结果：{}", collect, b); + return b; } - - - - } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java index 14cde2e..3b4dc4f 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java @@ -2,20 +2,30 @@ package com.ruoyi.schedule.plcRead.tsj; import HslCommunication.BasicFramework.SoftBasic; import HslCommunication.Core.Net.IReadWriteNet; +import HslCommunication.Core.Transfer.DataFormat; +import HslCommunication.Core.Transfer.IByteTransform; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; +import HslCommunication.ModBus.ModbusTcpNet; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import cn.hutool.core.convert.Convert; import com.ruoyi.common.domain.HslRead; import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.common.domain.SendData; +import com.ruoyi.common.domain.SendData2; +import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.tsj.domain.DeviceTsj; +import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import com.ruoyi.schedule.plcRead.util.ParseUtil; import com.ruoyi.schedule.plcRead.util.Tools; import lombok.extern.slf4j.Slf4j; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; import java.util.concurrent.ConcurrentHashMap; +import java.util.stream.Collectors; @Slf4j public class PlcTsjRead implements Runnable { @@ -23,24 +33,33 @@ public class PlcTsjRead implements Runnable { public static ConcurrentHashMap deviceTsjMap; public volatile boolean isRun = true; - public SiemensS7Net siemensS7Net = null; public static IReadWriteNet readWriteNet = null; private final String ip; private final int port; private boolean success = false; + private final DeviceTsj deviceTsj; + private static ModbusTcpNet modbusTcpNet; + private IByteTransform byteTransform = null; public PlcTsjRead(ConcurrentHashMap deviceTsjMap, PlcConnectInfo plcConnectInfo) { PlcTsjRead.deviceTsjMap = deviceTsjMap; + deviceTsj = deviceTsjMap.get("tsj1"); this.ip = plcConnectInfo.getIp(); this.port = plcConnectInfo.getPort(); } - public static int WriteToTSJ(String address, byte[] data) { - int a = 0; - if (readWriteNet != null) { - a = HslRead.WriteResultRender(readWriteNet.Write(address, data), address); - } - return a; + public static boolean Write(String address, int[] value) { + + OperateResult write = modbusTcpNet.Write(address, value); + return write.IsSuccess; + + } + + public static boolean Write(String address, short[] value) { + + OperateResult write = modbusTcpNet.Write(address, value); + return write.IsSuccess; + } @Override @@ -48,9 +67,8 @@ public class PlcTsjRead implements Runnable { while (isRun) { try { if (IsConnect()) { - for (String tsjCode : deviceTsjMap.keySet()) { - DeviceTsj tsjDevice = deviceTsjMap.get(tsjCode); - plcRead(tsjDevice); + if (deviceTsj != null) { + readPlcLineTsj(deviceTsj); } Thread.sleep(1000); } else { @@ -67,41 +85,46 @@ public class PlcTsjRead implements Runnable { } } - private void plcRead(DeviceTsj tsjDevice) { - OperateResultExOne read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("220")); - String ddsx1 = "0"; - if (read2.IsSuccess) { - ddsx1 = SoftBasic.ByteToHexString(read2.Content); - tsjDevice.setCzfs(ParseUtil.optInt(2, ddsx1)); - tsjDevice.setSbzt(ParseUtil.optInt(4, ddsx1)); - tsjDevice.setRwh(Convert.toLong(ParseUtil.optDInt(6, ddsx1))); - tsjDevice.setDqcs(ParseUtil.optInt(10, ddsx1)); - tsjDevice.setJdbz(ParseUtil.optInt(12, ddsx1)); - tsjDevice.setYph(ParseUtil.optInt(14, ddsx1)); - tsjDevice.setYch(ParseUtil.optInt(16, ddsx1)); - tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1)); - tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1)); - tsjDevice.setYxxf(ParseUtil.optInt(22, ddsx1)); - tsjDevice.setXtxh(ParseUtil.optInt(24, ddsx1)); + private void readPlcLineTsj(DeviceTsj tsjDevice) { + OperateResultExOne read1 = modbusTcpNet.Read("1013", (short) 2);//1013 任务号 + if (read1.IsSuccess) { + byteTransform.setDataFormat(DataFormat.CDAB); + // TODO 注意双字反转 + deviceTsj.setRwh((long) byteTransform.TransInt32(read1.Content, 0)); + log.info("=====读取到提升机任务号:{}=======", byteTransform.TransInt32(read1.Content, 0)); + } + OperateResultExOne read2 = modbusTcpNet.Read("1015", (short) 6);//1015 操作方式 1016 设备状态 1017 当前层 1018 执行阶段 1019 允许下发 1020 心跳 + if (read1.IsSuccess) { + deviceTsj.setCzfs(Convert.toInt(byteTransform.TransInt16(read2.Content, 0))); + log.info("=====读取到提升机操作模式:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 0))); + deviceTsj.setSbzt(Convert.toInt(byteTransform.TransInt16(read2.Content, 2))); + log.info("=====读取到提升机设备状态:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 2))); + deviceTsj.setDqcs(Convert.toInt(byteTransform.TransInt16(read2.Content, 4))); + log.info("=====读取到提升机当前层:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 4))); + deviceTsj.setJdbz(Convert.toInt(byteTransform.TransInt16(read2.Content, 6))); + log.info("=====读取到提升机执行阶段:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 6))); + deviceTsj.setYxxf(Convert.toInt(byteTransform.TransInt16(read2.Content, 8))); + log.info("=====读取到提升机允许下发:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 8))); + deviceTsj.setXtxh(Convert.toInt(byteTransform.TransInt16(read2.Content, 10))); + log.info("=====读取到提升机心跳信号:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 10))); } } void ConnectServer() { - siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500); + modbusTcpNet = new ModbusTcpNet(); try { - siemensS7Net.setIpAddress(this.ip); - siemensS7Net.setPort(this.port); - siemensS7Net.setRack((byte) 0); - siemensS7Net.setSlot((byte) 1); - - OperateResult connect = siemensS7Net.ConnectServer(); + modbusTcpNet.setIpAddress(this.ip); + modbusTcpNet.setPort(this.port); + modbusTcpNet.setStation((byte) 1); + this.byteTransform = modbusTcpNet.getByteTransform(); + OperateResult connect = modbusTcpNet.ConnectServer(); if (connect.IsSuccess) { setIsConnect(true); - readWriteNet = siemensS7Net; + readWriteNet = modbusTcpNet; } } catch (Exception ex) { - log.info("********IP:" + this.ip + " port:" + this.port + "连接失败 " + ex.getMessage()); + log.info("********IP:{} port:{}提升机连接失败 {}", this.ip, this.port, ex.getMessage()); } } @@ -122,7 +145,7 @@ public class PlcTsjRead implements Runnable { void reConnect() { closeServer(); ConnectServer(); - log.info("重新连接 SSJ-PLC"); + log.info("重新连接提升机PLC"); } void closeServer() { @@ -132,5 +155,50 @@ public class PlcTsjRead implements Runnable { setIsConnect(false); } + public static int writeToTsj(String taskNo, int rwlx, int hwly , int qx ,int completed) { + List sendDataList = new ArrayList<>(); + sendDataList.add(new SendData2("1000", taskNo, 2)); + sendDataList.add(new SendData2("1002", String.valueOf(rwlx), 1)); + sendDataList.add(new SendData2("1003", String.valueOf(hwly), 1)); + sendDataList.add(new SendData2("1004", String.valueOf(qx), 1)); + sendDataList.add(new SendData2("1005", String.valueOf(completed), 1)); + int jym = Tools.getJYM(Integer.parseInt(taskNo),rwlx,hwly,qx,completed); + sendDataList.add(new SendData2("1006", String.valueOf(jym), 1)); + int b = 1; + for (SendData2 sendData : sendDataList) { + String address = sendData.getAddress(); + String data = sendData.getData(); + String[] split = data.split(","); + int type = sendData.getType(); + if (type == 2) { + int[] intData = Arrays.stream(split) + .map(String::trim) + .mapToInt(Integer::parseInt) + .toArray(); + boolean write = PlcSsjRead.Write(address, intData); + if (!write) { + b = 0; + break; + } + } else if (type == 1) { + short[] shortData = new short[split.length]; + for (int i = 0; i < split.length; i++) { + try { + shortData[i] = Short.parseShort(split[i].trim()); + } catch (NumberFormatException e) { + shortData[i] = 0; + } + } + boolean write = PlcSsjRead.Write(address, shortData); + if (!write) { + b = 0; + break; + } + } + } + String collect = sendDataList.stream().map(li -> "{" + li.getAddress() + ":" + li.getData() + "}").collect(Collectors.joining(",")); + log.info("提升机下发完成,下发值：{},,结果：{}", collect, b); + return b; + } } 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 9850b98..d5f3efc 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 @@ -5,34 +5,33 @@ import com.ruoyi.device.ddj.service.IMsgDdjService; import com.ruoyi.device.srgv.service.IDeviceSrgvService; import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.ssj.service.IDeviceSsjService; +import com.ruoyi.device.tsj.service.IDeviceTsjService; +import com.ruoyi.device.tsj.service.impl.DeviceTsjServiceImpl; import com.ruoyi.schedule.plcRead.ddj.PlcDdjRead; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; +import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead; import lombok.extern.slf4j.Slf4j; - /** * 监控线程 */ @Slf4j public class MonitoringThread implements Runnable { - public boolean isRun = true; - private IDeviceSsjService deviceSsjService; - private IMsgDdjService msgDdjService; private IDeviceSrgvService deviceSrgvService; - + private DeviceTsjServiceImpl deviceTsjService; public void init() { deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class); - msgDdjService = SpringUtils.getBean(IMsgDdjService.class); deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class); + deviceTsjService = SpringUtils.getBean(DeviceTsjServiceImpl.class); } @Override public void run() { init(); - while (isRun){ + while (isRun) { for (String ssjCode : PlcSsjRead.deviceSsjMap.keySet()) { DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get(ssjCode); deviceSsj.setTraySize(deviceSsj.getModel()); @@ -43,14 +42,14 @@ public class MonitoringThread implements Runnable { deviceSrgvService.updateDeviceSrgv(PlcSrgvRead.deviceSrgvMap.get(sRgv)); } - + for (String tsj : PlcTsjRead.deviceTsjMap.keySet()) { + deviceTsjService.updateDeviceTsj(PlcTsjRead.deviceTsjMap.get(tsj)); + } try { Thread.sleep(1500); } catch (InterruptedException e) { throw new RuntimeException(e); } } - } - } 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 5b11027..1a080f3 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 @@ -14,11 +14,14 @@ 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.srgv.service.impl.DeviceSrgvServiceImpl; import com.ruoyi.device.tsj.domain.DeviceTsj; import com.ruoyi.job.charg.domain.SrgvChargingJob; import com.ruoyi.job.charg.service.ISrgvChargingJobService; +import com.ruoyi.job.domain.JobCallBack; import com.ruoyi.job.domain.MydoJob; import com.ruoyi.job.service.IMydoJobService; +import com.ruoyi.job.service.impl.JobCallBackServiceImpl; import com.ruoyi.queue.srgv.domain.WcsSrgvQueue; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService; @@ -63,13 +66,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { public IDeviceSrgvService deviceSrgvService; + public JobCallBackServiceImpl jobCallBackService; + public void init() { sRgvCodeList = new HashMap<>(); ArrayList sRgvCodes = new ArrayList<>(); sRgvCodes.add("1"); - sRgvCodes.add("2"); - sRgvCodes.add("3"); +// sRgvCodes.add("2"); sRgvCodeList.put("srgv", sRgvCodes); wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class); @@ -79,6 +83,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { mydoJobService = SpringUtils.getBean(IMydoJobService.class); wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class); roadCacheService = SpringUtils.getBean(RoadCacheService.class); + deviceSrgvService = SpringUtils.getBean(DeviceSrgvServiceImpl.class); } @Override @@ -139,10 +144,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) { String chargingId = srgvChargingJob.getChargingId(); DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId); - if (ObjUtil.isNotNull(deviceCdz)){ + if (ObjUtil.isNotNull(deviceCdz)) { //下发断电任务 int i = PlcCdzRead.WriteToCdz("", null); - if (i == 1){ + if (i == 1) { srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid()); srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid()); } @@ -165,15 +170,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { List srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param); if (CollUtil.isNotEmpty(srgvChargingJobs)) { SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0); - if ("1".equals(srgvChargingJob.getChargingStatus())){ - //初始状态 + if ("1".equals(srgvChargingJob.getChargingStatus())) { + //初始状态 - //判断小车和充电桩是否在同一层 + //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())){ + 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(); @@ -181,18 +186,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { List wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); if (CollUtil.isEmpty(wcsSrgvQueues)) { //生成队列 - createSrgvChargingQueue(deviceSrgv, chargingSite,"8"); + createSrgvChargingQueue(deviceSrgv, chargingSite, "3"); srgvChargingJob.setJobStatus("3"); srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob); } - }else { + } 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 wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); if (CollUtil.isEmpty(wcsSrgvQueues)) { - createSrgvChargingQueue(deviceSrgv, chargingSite,"4"); + createSrgvChargingQueue(deviceSrgv, chargingSite, "8"); srgvChargingJob.setJobStatus("2"); srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob); } @@ -203,7 +208,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } } - private void createSrgvChargingQueue(DeviceSrgv deviceSrgv, String chargingSite,String type) { + private void createSrgvChargingQueue(DeviceSrgv deviceSrgv, String chargingSite, String type) { WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue(); wcsSrgvQueue.setGuid(UUID.randomUUID().toString()); wcsSrgvQueue.setTaskNo(""); @@ -216,9 +221,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSrgvQueue.setCargoPlaceSite(""); wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite); - if ("4".equals(type)){ + if ("8".equals(type)) { wcsSrgvQueue.setEndSite("tsj"); - }else if ("8".equals(type)){ + } else if ("3".equals(type)) { wcsSrgvQueue.setEndSite(chargingSite); } wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString()); @@ -236,7 +241,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //处理队列下发 resQueue(deviceSrgv); - //小车完成队列 +// 小车完成队列 completeCarTask(deviceSrgv); //小车发送任务 @@ -245,17 +250,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } - /** * 生成入库小车队列 */ private void createCarQueue(DeviceSrgv deviceSrgv) { - if(deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1) { + 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(); @@ -267,7 +269,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { List 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"); + createCarQueue(mydoJobs.get(0), deviceSrgv, "4", "0"); } else { MydoJob mydoJob = new MydoJob(); mydoJob.setInOut("2"); @@ -278,7 +280,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (!mydoJobs1.isEmpty()) { //找最外层作业存储过程 HashMap map = new HashMap<>(); - map.put("v_layer",deviceSrgv.getCurrFloor()); + map.put("v_layer", deviceSrgv.getCurrFloor()); mydoJobService.selectMydoJobOutside(map); String jobId = map.get("v_job_ids").toString(); MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId); @@ -286,45 +288,40 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId()); List wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); - if(!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())){ - createCarQueue(mydoJob2, deviceSrgv, "4","0"); - }else{ - createCarQueue(mydoJob2, deviceSrgv, "4","1"); + if (!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())) { + createCarQueue(mydoJob2, deviceSrgv, "4", "0"); + } else { + createCarQueue(mydoJob2, deviceSrgv, "4", "1"); } } else { //别的层的出库作业和入库作业 - - MydoJob job=null; + MydoJob job = null; MydoJob mydoJob3 = new MydoJob(); mydoJob3.setStatus("3"); mydoJob3.setInOut("1"); //todo 输送机阶段 mydoJob3.setExecutionPhase("1"); List mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3); - if(!mydoJobs4.isEmpty()){ - job=mydoJobs4.get(0); - }else{ + if (!mydoJobs4.isEmpty()) { + job = mydoJobs4.get(0); + } else { MydoJob mydoJob2 = new MydoJob(); mydoJob2.setInOut("2"); mydoJob2.setStatus("1"); List mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2); - if(!mydoJobs3.isEmpty()){ - job=mydoJobs3.get(0); + if (!mydoJobs3.isEmpty()) { + job = mydoJobs3.get(0); } } - if(job!=null) { - + if (job != null) { //判断那层没有小车，并且没有要去那层的小车队列,查监控表 //生成换层任务 - - DeviceSrgv deviceSrgv1 = new DeviceSrgv(); deviceSrgv1.setCurrFloor(Convert.toInt(job.getTheFloor())); List srgvs = deviceSrgvService.selectDeviceSrgvList(deviceSrgv1); //这个作业的目标层没有小车 if (srgvs.isEmpty()) { - WcsSrgvQueue wcsSrgvQueue1 = new WcsSrgvQueue(); wcsSrgvQueue1.setDefault07(job.getTheFloor()); // wcsSrgvQueue1.setTaskType("3"); @@ -334,27 +331,29 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { createCarQueue(job, deviceSrgv, "8", "0"); } } - - } } - - } - } else{ - if ( "1".equals(wcsSrgvQueue.getIssued())) { + } else { + if ("1".equals(wcsSrgvQueue.getIssued())) { MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo())); - if (mydoJob != null){ + if (mydoJob != null) { if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "1".equals(wcsSrgvQueue.getTaskType())) { + //TODO 调用WMS完成作业接口 定时器回传完成作业 + JobCallBack jobCallBack = new JobCallBack(); + jobCallBack.setType("1"); + jobCallBack.setMydojobId(mydoJob.getJobId()); + jobCallBack.setStatus("0"); + jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo())); + jobCallBack.setCreateTime(new Date()); + jobCallBackService.insertJobCallBack(jobCallBack); // todo 通知wms入库完成 完成队列 完成作业 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); - mydoJobService.insertHistory(mydoJob.getJobId()); mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId()); - } 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()); @@ -362,24 +361,24 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //提升机修改阶段 // mydoJob.setExecutionPhase(""); // mydoJobService.updateMydoJob(mydoJob); - } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "4".equals(wcsSrgvQueue.getTaskType())) { + } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "4".equals(wcsSrgvQueue.getTaskType())) { //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"); + createCarQueue(mydoJob, deviceSrgv, "1", "0"); } else { wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); - createCarQueue(mydoJob, deviceSrgv, "2","0"); + createCarQueue(mydoJob, deviceSrgv, "2", "0"); } - }else if(deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())){ + } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "8".equals(wcsSrgvQueue.getTaskType())) { wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); } - }else { + } else { //查询充电任务 SrgvChargingJob srgvChargingJob = new SrgvChargingJob(); srgvChargingJob.setAgvId(String.valueOf(wcsSrgvQueue.getAgvId())); @@ -387,9 +386,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { srgvChargingJob.setJobStatus("2"); srgvChargingJob.setJobType("1"); List srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob); - if (!srgvChargingJobs.isEmpty()){ + if (!srgvChargingJobs.isEmpty()) { SrgvChargingJob srgvChargingJob1 = srgvChargingJobs.get(0); - if ( deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "4".equals(wcsSrgvQueue.getTaskType())) { + if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "4".equals(wcsSrgvQueue.getTaskType())) { //查询换层任务 wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); @@ -398,53 +397,49 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob1); } } - - } - } - } - -// } - } - - } - private void createCarQueue(MydoJob mydoJob1, DeviceSrgv deviceSrgv,String taskType,String issued) { + private void createCarQueue(MydoJob mydoJob1, DeviceSrgv deviceSrgv, String taskType, String issued) { WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue(); wcsSrgvQueue.setGuid(UUID.randomUUID().toString()); wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo()); wcsSrgvQueue.setTaskType(taskType); wcsSrgvQueue.setPriority(Long.parseLong("2")); -// wcsSrgvQueue.setCargo("1"); wcsSrgvQueue.setIssued(issued); wcsSrgvQueue.setExecutionStatus("1"); -// wcsSrgvQueue.setCargoPlaceSite("tsj"); 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.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); List wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); - - if(Integer.parseInt(mydoJob1.getInOrOut())<20 && "4".equals(taskType)){ + //点到点任务 + if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "4".equals(taskType)) { wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setEndSite("tsj"); - //每一层的停靠点 + //入库的点到点直接进入提升机 不选停靠点 + wcsSrgvMap1.setTheRow(3); + wcsSrgvMap1.setTheColumn(5); + wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); + wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); - } - else if(Integer.parseInt(mydoJob1.getInOrOut())<20 && "1".equals(taskType)){ + } else if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "1".equals(taskType)) { wcsSrgvQueue.setStartSite("tsj"); WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId()); List wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId()); - //每一层的停靠点 + //入库的点到点从030501 到目标货位 + wcsSrgvMap1.setTheRow(3); + wcsSrgvMap1.setTheColumn(5); + wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); + wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); - } - else if(Integer.parseInt(mydoJob1.getInOrOut())>=20 && "4".equals(taskType)){ + } else if (Integer.parseInt(mydoJob1.getInOrOut()) >= 20 && "4".equals(taskType)) { wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId()); @@ -452,20 +447,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId()); //每一层的停靠点 wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); - } - else if(Integer.parseInt(mydoJob1.getInOrOut())>=20 && "2".equals(taskType)){ + } else if (Integer.parseInt(mydoJob1.getInOrOut()) >= 20 && "2".equals(taskType)) { wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setEndSite("tsj"); //每一层的停靠点 wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); - } - else if("8".equals(taskType)){ + } else if ("8".equals(taskType)) { wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setEndSite("tsj"); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); } - - wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString()); wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date())); wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString()); @@ -487,9 +478,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) { String agvId = wcsSrgvQueue.getAgvId(); - if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) { - String startSite = wcsSrgvQueue.getStartSite(); - String endSite = wcsSrgvQueue.getEndSite(); + if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) //agvID和小车ID一致 + && deviceSrgv.getWorkMode() == 5//工作模式联机自动 + && deviceSrgv.getStatus() == 1//小车状态为待机 + && deviceSrgv.getWorkPhase() == 0 //执行阶段待机 + && 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(); //判断是否可以下发任务 if ("0".equals(wcsSrgvQueue.getIssued()) && deviceSrgv.getStatus() == 1) { @@ -524,8 +522,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //判断是否能规划出最短路径 if (shortestPath == null || shortestPath.isEmpty()) { //判断是否是1层 空车取货 或者 满车放货 - if (floor==1){ - if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())){ + if (floor == 1) { + if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) { //1层满车放货 //修改终点到出库缓存点 WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap(); @@ -537,12 +535,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite()); } cacheSite.removeAll(currentSRgvSite); - if (CollUtil.isNotEmpty(cacheSite)){ + if (CollUtil.isNotEmpty(cacheSite)) { for (String cache : cacheSite) { WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); wcsSrgvQueueParam.setEndSite(cache); List wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); - if (CollUtil.isEmpty(wcsSrgvQueues)){ + if (CollUtil.isEmpty(wcsSrgvQueues)) { wcsSrgvQueue.setEndSite(cacheSite.get(0)); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); break; @@ -551,7 +549,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } } - if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())){ + if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) { //1层空车取货 //修改终点到避让点 WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap(); @@ -563,12 +561,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite()); } cacheSite.removeAll(currentSRgvSite); - if (CollUtil.isNotEmpty(cacheSite)){ + if (CollUtil.isNotEmpty(cacheSite)) { for (String cache : cacheSite) { WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); wcsSrgvQueueParam.setEndSite(cache); List wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); - if (CollUtil.isEmpty(wcsSrgvQueues)){ + if (CollUtil.isEmpty(wcsSrgvQueues)) { wcsSrgvQueue.setEndSite(cacheSite.get(0)); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); break; @@ -620,17 +618,46 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } } } - + if (endSite.equals("tsj")) { + switch (wcsSrgvQueue.getTheFloor()) { + case "1": + endSite = "030501"; + break; + case "2": + endSite = "030502"; + break; + case "3": + endSite = "030503"; + break; + default: + break; + } + } + if (startSite.equals("tsj")) { + switch (wcsSrgvQueue.getTheFloor()) { + case "1": + startSite = "030501"; + break; + case "2": + startSite = "030502"; + break; + case "3": + startSite = "030503"; + break; + default: + break; + } + } List sendDataList = new ArrayList<>(); if (!trun.isEmpty()) { SendData2 path = new SendData2(); - path.setAddress("4000");//地址 + path.setAddress("4004");//地址 path.setData(startSite + "," + endSite + "," + turnBuilder); path.setType(2); sendDataList.add(path); } else { SendData2 path = new SendData2(); - path.setAddress("4000");//地址 + path.setAddress("4004");//地址 path.setData(startSite + "," + endSite); path.setType(2); sendDataList.add(path); @@ -638,29 +665,44 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //任务号、原、目标数据转换 - String siteId = wcsSrgvQueue.getTaskNo() + "1";//+ "," + startSite + "," + endSite; + String taskNo = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite; SendData2 site = new SendData2(); - site.setAddress("4400"); - site.setData(siteId); + site.setAddress("4000"); + site.setData(taskNo); site.setType(2); sendDataList.add(site); //任务类型转换 SendData2 taskType = new SendData2(); - taskType.setAddress("2200"); + taskType.setAddress("4002"); taskType.setData(wcsSrgvQueue.getTaskType()); taskType.setType(1); sendDataList.add(taskType); + if (wcsSrgvQueue.getTaskType().equals("8")) { + SendData2 chgLayerLogo = new SendData2(); + chgLayerLogo.setAddress("4020"); + chgLayerLogo.setData(wcsSrgvQueue.getTaskType()); + chgLayerLogo.setType(1); + sendDataList.add(chgLayerLogo); + + + SendData2 tarLayer = new SendData2(); + tarLayer.setAddress("4022"); + tarLayer.setData(wcsSrgvQueue.getDefault07()); + tarLayer.setType(1); + sendDataList.add(tarLayer); + } + //下发标志转换 SendData2 flag = new SendData2(); - flag.setAddress("2202"); + flag.setAddress("4021"); flag.setData("1"); flag.setType(1); sendDataList.add(flag); //下发数据 - boolean b = true;// sendCarTask(sendDataList, deviceSrgv); + boolean b = sendCarTask(sendDataList, deviceSrgv); if (b) { wcsSrgvQueue.setPathInfo(pathBuilder.toString()); wcsSrgvQueue.setTrunPath(turnBuilder.toString()); @@ -679,13 +721,21 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { String taskType = wcsSrgvQueue.getDefault02(); boolean sendFlag = false; switch (taskType) { - case "4": - // 空车任务（充电、换层、手动点到点、除尘等） - sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); - break; case "1": case "2": - // 载货任务（出库、入库、移库等） + // 载货任务（出库、入库等） + sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); + break; + case "4": + // 空车任务（点到点任务） + sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); + break; + case "7": + // 移库任务 + sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); + break; + case "8": + //换层作业 sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); break; } @@ -760,7 +810,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { */ private void completeCarTask(DeviceSrgv deviceSrgv) { //联机自动 - if (deviceSrgv.getWorkMode() == 4) { + if (deviceSrgv.getWorkMode() == 5) { if (deviceSrgv.getStatus() == 1) { WcsSrgvQueue param = new WcsSrgvQueue(); param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId())); @@ -791,8 +841,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { * @return */ private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) { - - //当前在终点 if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) { String taskType = wcsSrgvQueue.getTaskType(); @@ -802,16 +850,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSrgvMap.setRemark("outCache"); List wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); - if(wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))){ + if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))) { //生成小车从避让点到放货/取货位置，如果是空车就到取货位置，如果是满车就到放货位置 wcsSrgvQueue.setExecutionStatus("4"); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSrgvQueue.setIssued("0"); wcsSrgvQueue.setExecutionStatus("1"); wcsSrgvQueue.setStartSite(currSite); - if("1".equals(taskType)){ + if ("1".equals(taskType)) { wcsSrgvQueue.setEndSite(cargoPickSite); - }else if("2".equals(taskType)){ + } else if ("2".equals(taskType)) { wcsSrgvQueue.setEndSite(cargoPlaceSite); } wcsSrgvQueue.setTheFloor("1"); @@ -820,8 +868,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { return; } - - //空车现在位置是取货位置（移库取货，入库取货，出库取货），满车现在是放货位置 if ("1".equals(taskType) && cargoPickSite.equals(currSite)) { //修改队列起终点，下发类型，重新下发。怎么区分重新下发的类型是移库还是入库,还有可能是出库取货--》判断取货位置是否为入库点 @@ -884,12 +930,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { } else { //充电之类的，不知道用不用 - } - - } - } /** @@ -912,17 +954,51 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { if (CollUtil.isNotEmpty(wcsSrgvQueues)) { WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); - String startSite = wcsSrgvQueue.getStartSite(); + String startSite = wcsSrgvQueue.getDefault03(); if (!startSite.equals(currSite)) { wcsSrgvQueue.setIssued("1"); + wcsSrgvQueue.setExecutionStatus("3"); wcsSrgvQueue.setStartDate(DateUtil.now()); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); } } } - } - - + public String getSite(String sitId,String floor,String type){ + if (type.equals("8")){ + if (sitId.equals("tsj")){ + switch (floor){ + case "1": + sitId="040501"; + break; + case "2": + sitId="040502"; + break; + case "3": + sitId="040503"; + break; + default: + break; + } + } + }else { + if (sitId.equals("tsj")){ + switch (floor){ + case "1": + sitId="030501"; + break; + case "2": + sitId="030502"; + break; + case "3": + sitId="030503"; + break; + default: + break; + } + } + } + return sitId; + } } 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 1953f81..d60ef63 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 @@ -33,19 +33,6 @@ public class SsjThread implements Runnable { public void init() { - ssjCodeList = new HashMap<>(); - ArrayList ssjCodes = new ArrayList<>(); - ssjCodes.add("TD1001"); - ssjCodes.add("TD1008"); - ssjCodeList.put("out", ssjCodes); - ArrayList ssjCodes1 = new ArrayList<>(); - ssjCodes1.add("GS1002"); - ssjCodes1.add("GS1007"); - ssjCodeList.put("in", ssjCodes1); - ArrayList ssjCodes2 = new ArrayList<>(); - ssjCodes2.add("L1004"); - ssjCodes2.add("L1005"); - ssjCodeList.put("road", ssjCodes2); mydoJobService = SpringUtils.getBean(IMydoJobService.class); jobCallBackService = SpringUtils.getBean(IJobCallBackService.class); apiService = SpringUtils.getBean(IApiService.class); @@ -55,49 +42,19 @@ public class SsjThread implements Runnable { public void run() { init(); while (isRun) { - for (String type : ssjCodeList.keySet()) { - switch (type) { - case "out": - for (String ssjCode : ssjCodeList.get("out")) { - try { - if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) { - inDispatch(PlcSsjRead.deviceSsjMap.get(ssjCode)); - } else { - log.error("设备不存在 ssjCode{}", ssjCode); - } - } catch (RuntimeException e) { - log.error(e.getMessage(), e); - } - - } - break; - case "in": - for (String ssjCode : ssjCodeList.get("in")) { - try { - if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) { - inDispatch1(PlcSsjRead.deviceSsjMap.get(ssjCode)); - } else { - log.error("设备不存在 ssjCode{}", ssjCode); - } - } catch (RuntimeException e) { - log.error(e.getMessage(), e); - } - } - - break; - case "road": - for (String ssjCode : ssjCodeList.get("road")) { - try { - if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) { - inDispatch2(PlcSsjRead.deviceSsjMap.get(ssjCode)); - } else { - log.error("设备不存在 ssjCode{}", ssjCode); - } - } catch (RuntimeException e) { - log.error(e.getMessage(), e); - } - } + try { + DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get("L1001"); + if (deviceSsj != null) { + //入库请求 + if (deviceSsj.getRkqq() == 1) { + inDispatch1(deviceSsj); + } + if (deviceSsj.getDw() == 1) { + inDispatch(deviceSsj); + } } + } catch (RuntimeException e) { + log.error(e.getMessage(), e); } } } @@ -106,7 +63,6 @@ public class SsjThread implements Runnable { void inDispatch(DeviceSsj deviceSsj) { //出库到位 if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) { - MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo())); if (mydoJob != null) { log.info("设备：{} 位置：{} 任务号：{} 出库到位", "输送线", deviceSsj.getDeviceCode(), mydoJob.getTaskNo()); @@ -124,18 +80,43 @@ public class SsjThread implements Runnable { } void inDispatch1(DeviceSsj deviceSsj) { - if (deviceSsj.getDw() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) { + if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) { // 查是否有正执行的出库作业，有退回 - MydoJob mydoJob1 = new MydoJob(); - mydoJob1.setStatus("3"); - mydoJob1.setInOut("2"); - List mydoJobs = mydoJobService.selectMydoJobList(mydoJob1); - if (mydoJobs.size() > 0) { - int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2,1); + MydoJob queryJob = new MydoJob(); + queryJob.setStatus("3"); + queryJob.setInOrOut("2"); + List mydoJobs = mydoJobService.selectMydoJobList(queryJob); + if (!mydoJobs.isEmpty()) { + int i = PlcSsjRead.writeToSsj("0", 11, 1); if (i == 1) { - log.info(deviceSsj.getDeviceCode()+"已有正执行的出库作业，下发退回，去向2"); + log.info(deviceSsj.getDeviceCode() + "已有正执行的出库作业，下发退回，去向2"); + return; } } + //查询是否有已经生成的入库作业，有则下发 + queryJob.setStatus("1"); + queryJob.setInOrOut("1"); + queryJob.setTrayCode(deviceSsj.getTrayCode()); + mydoJobs=mydoJobService.selectMydoJobList(queryJob); + if (!mydoJobs.isEmpty()) { + //下发已经生成作业 + MydoJob mydoJob=mydoJobs.get(0); + int i = PlcSsjRead.writeToSsj(mydoJob.getTaskNo(), Integer.parseInt(mydoJob.getRoadwayId()), 1); + if (i == 1) { + mydoJob.setStatus("3"); + mydoJobService.updateMydoJob(mydoJob); + log.info("{}输送机下发入库任务号成功:{}", deviceSsj.getDeviceCode(), mydoJob.getTaskNo()); + return; + } + } + //查询是否有已经下发的入库作业，有则退出逻辑 + queryJob.setStatus("3"); + queryJob.setInOrOut("1"); + queryJob.setTrayCode(deviceSsj.getTrayCode()); + mydoJobs=mydoJobService.selectMydoJobList(queryJob); + if (!mydoJobs.isEmpty()) { + return; + } HashMap map = new HashMap<>(); map.put("trayCode", deviceSsj.getTrayCode()); //拉取 @@ -146,33 +127,32 @@ public class SsjThread implements Runnable { mydoJob.setStatus("1"); mydoJob.setExecutionPhase("1"); mydoJob.setCreateTime(new Date()); + mydoJob.setTheFloor(mydoJob.getRoadwayId()); mydoJobService.insertMydoJob(mydoJob); - int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1); + //找到作业的层下发为去向 + //TODO 到位后生成提升机的执行队列 + int i = PlcSsjRead.writeToSsj(mydoJob.getTaskNo(), Integer.parseInt(mydoJob.getRoadwayId()), 1); if (i == 1) { mydoJob.setStatus("3"); mydoJobService.updateMydoJob(mydoJob); - log.info(deviceSsj.getDeviceCode()+"输送机下发任务号成功:{}", mydoJob.getTaskNo()); + log.info("{}输送机下发任务号成功:{}", deviceSsj.getDeviceCode(), mydoJob.getTaskNo()); } } else { - int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2,1); + int i = writeToSsj("0", 11, 1); if (i == 1) { - log.info(deviceSsj.getDeviceCode()+"未查到该托盘码作业，下发退回，去向2"); + log.info("{}未查到该托盘码作业，下发退回，去向2", deviceSsj.getDeviceCode()); } - } - - } - } - void inDispatch2(DeviceSsj deviceSsj){ - if(deviceSsj.getDw() == 1 && deviceSsj.getTaskNo()>1000){ + void inDispatch2(DeviceSsj deviceSsj) { + if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) { MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo()); - if(mydoJob!=null){ + if (mydoJob != null) { mydoJob.setExecutionPhase("2"); - mydoJobService.updateMydoJob(mydoJob); + mydoJobService.updateMydoJob(mydoJob); } } } 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 4413953..18abab0 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 @@ -7,12 +7,11 @@ import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.ObjUtil; import cn.hutool.core.util.StrUtil; -import com.ruoyi.bas.port.domain.WcsPort; import com.ruoyi.bas.port.service.IWcsPortService; -import com.ruoyi.common.domain.SendData; import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.device.srgv.domain.DeviceSrgv; 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.MydoJob; @@ -26,13 +25,11 @@ import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead; -import com.ruoyi.schedule.plcRead.util.Tools; import lombok.extern.slf4j.Slf4j; import java.util.Date; import java.util.HashMap; import java.util.List; -import java.util.Objects; @Slf4j public class TsjThread implements Runnable { @@ -52,22 +49,21 @@ public class TsjThread implements Runnable { tsjDeviceExecutionQueueFinishService = SpringUtils.getBean(ITsjDeviceExecutionQueueFinishService.class); wcsPortService = SpringUtils.getBean(IWcsPortService.class); wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class); + mydoJobService =SpringUtils.getBean(IMydoJobService.class); + deviceSrgvService=SpringUtils.getBean(DeviceSrgvServiceImpl.class); } @Override public void run() { init(); while (isRun) { - for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) { - DeviceTsj tsj = PlcTsjRead.deviceTsjMap.get(tsjCode); - - tsjTask(tsj); - } - try { - Thread.sleep(1500); - } catch (InterruptedException e) { - throw new RuntimeException(e); + for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) { + DeviceTsj tsj = PlcTsjRead.deviceTsjMap.get(tsjCode); + tsjTask(tsj); + } + } catch (RuntimeException e) { + log.error(e.getMessage(), e); } } @@ -75,40 +71,23 @@ public class TsjThread implements Runnable { private void tsjTask(DeviceTsj tsj) { int sbzt = tsj.getSbzt();//设备状态 - int czfs = tsj.getCzfs();//操作方式 //0:未知，1：手动 2：自动 + int czfs = tsj.getCzfs();//操作方式 //0:未知，1：自动 2：手动 int jdbz = tsj.getJdbz();//执行阶段 Long rwh = tsj.getRwh();//任务号 int yxxf = tsj.getYxxf();//允许下发 - - - /* - * 1、下发完成 如果设备状态为 2-工作 ，触发方式 2-自动，任务号大于999，则代表任务下发完成 - * - * */ - if (czfs == 2 && sbzt == 2 && rwh > 999) { - finishSend(rwh); - } - - /* - * 2、任务完成 - * - * */ - if (czfs == 2 && sbzt == 2 && jdbz == 5 && rwh > 999) { + if (czfs == 1 && sbzt == 98 && jdbz == 11 && rwh > 999) { //任务完成 - finishTask(rwh); + finishTask(tsj); } - /* * 3、下发 * * */ - if (czfs == 2 && yxxf == 1) { + if (czfs == 1 && yxxf == 1) { sendTsj(); } - createTsjQueue(tsj); - } @@ -118,9 +97,8 @@ public class TsjThread implements Runnable { private void createTsjQueue(DeviceTsj tsj) { for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) { DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv); - //车进提升机 换层 - if ("1".equals(deviceSrgv.getSpare2()) && deviceSrgv.getTaskNo()>0){ + if ("1".equals(deviceSrgv.getSpare2()) && deviceSrgv.getTaskNo() > 0) { //请求进入输送机 WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue(); sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId())); @@ -129,16 +107,20 @@ public class TsjThread implements Runnable { if (CollUtil.isNotEmpty(wcsSrgvQueues)) { WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); String rwlx = ""; - if ("2".equals(wcsSrgvQueue.getTaskType())){ + if ("2".equals(wcsSrgvQueue.getTaskType())) { //出库 - rwlx = "1"; - } - if ( "3".equals(wcsSrgvQueue.getTaskType()) || "8".equals(wcsSrgvQueue.getTaskType())){ - // rwlx = "2"; } + if ("3".equals(wcsSrgvQueue.getTaskType())) { + // + rwlx = "1"; + } + if ("8".equals(wcsSrgvQueue.getTaskType())){ + rwlx = "3"; + } + //TODO 换层时提升机的货物来源是小车层 获取去向是换曾终点层 是否要改为提升机当前层到小车层 TsjDeviceExecutionQueue tsjDeviceExecutionQueueByRwh = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(Convert.toLong(deviceSrgv.getTaskNo())); - if (tsjDeviceExecutionQueueByRwh == null && StrUtil.isNotEmpty(rwlx)){ + if (tsjDeviceExecutionQueueByRwh == null && StrUtil.isNotEmpty(rwlx)) { String strFloor = wcsSrgvQueue.getTheFloor(); String tarFloor = wcsSrgvQueue.getDefault07(); if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) { @@ -165,38 +147,53 @@ public class TsjThread implements Runnable { } } } - - //输送机配送货物到提升机 - for (String ssjCode : inSsjList.keySet()) { - DeviceSsj ssj = PlcSsjRead.deviceSsjMap.get(ssjCode); - if (ObjUtil.isNotNull(ssj)) { - if (ssj.getRkqq() == 1 && ssj.getDw() == 1 && ssj.getTaskNo() > 0) { - MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(ssj.getTaskNo())); - //输送机入库 - DeviceSrgv srgvParam = new DeviceSrgv(); - srgvParam.setCurrFloor(Convert.toInt(mydoJob.getTheFloor())); - List deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(srgvParam); - if (CollUtil.isNotEmpty(deviceSrgvs)){ - - String theFloor = mydoJob.getTheFloor(); - //生成提升机队列 - TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue(); - tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID()); - tsjDeviceExecutionQueue.setDeviceId(tsj.getId()); - tsjDeviceExecutionQueue.setDeviceName(tsj.getName()); - tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(ssj.getTaskNo())); - tsjDeviceExecutionQueue.setSrcRow("0"); - tsjDeviceExecutionQueue.setSrcLayer(String.valueOf(tsj.getDqcs())); - tsjDeviceExecutionQueue.setTarRow("0"); - tsjDeviceExecutionQueue.setTarLayer(theFloor); - tsjDeviceExecutionQueue.setSendType("1"); - tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date())); - tsjDeviceExecutionQueue.setSpare1("ssj"); - tsjDeviceExecutionQueue.setTaskType("1"); - tsjDeviceExecutionQueue.setRwlx("3"); - tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue); - } + DeviceSsj ssj = PlcSsjRead.deviceSsjMap.get("L1001"); + if (ObjUtil.isNotNull(ssj)) { + if (ssj.getRkdw() == 1 && ssj.getTaskNo() > 0) { + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(ssj.getTaskNo())); + if (mydoJob==null){ + log.info("未查询到对应作业"); + return; + } + //输送机入库 + DeviceSrgv srgvParam = new DeviceSrgv(); + srgvParam.setCurrFloor(Convert.toInt(mydoJob.getTheFloor())); + //查找当前层是否有小车，提升机是否在当前层，有小车生成提升机队列 + List deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(srgvParam); + TsjDeviceExecutionQueue queryQueue = new TsjDeviceExecutionQueue(); + queryQueue.setTaskNo(Convert.toLong(ssj.getTaskNo())); + final List tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(queryQueue); + if (!tsjDeviceExecutionQueues.isEmpty()){ + log.info("已经生成提升机队列"); + return; + } + MydoJob queryJob = new MydoJob(); + queryJob.setTaskNo(String.valueOf(ssj.getTaskNo())); + queryJob.setExecutionPhase("3"); + List mydoJobs = mydoJobService.selectMydoJobList(queryJob); + if (!mydoJobs.isEmpty()){ + log.info("提升机队列已完成"); + return; + } + if (CollUtil.isNotEmpty(deviceSrgvs)) { + String theFloor = mydoJob.getTheFloor(); + //生成提升机队列 + TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue(); + tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID()); + tsjDeviceExecutionQueue.setDeviceId(tsj.getId()); + tsjDeviceExecutionQueue.setDeviceName(tsj.getName()); + tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(ssj.getTaskNo())); + tsjDeviceExecutionQueue.setSrcRow("0"); + tsjDeviceExecutionQueue.setSrcLayer(String.valueOf(tsj.getDqcs())); + tsjDeviceExecutionQueue.setTarRow("0"); + tsjDeviceExecutionQueue.setTarLayer(theFloor); + tsjDeviceExecutionQueue.setSendType("1"); + tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date())); + tsjDeviceExecutionQueue.setSpare1("ssj"); + tsjDeviceExecutionQueue.setTaskType("1"); + tsjDeviceExecutionQueue.setRwlx("1"); + tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue); } } } @@ -206,32 +203,9 @@ public class TsjThread implements Runnable { List tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(new TsjDeviceExecutionQueue()); if (CollUtil.isNotEmpty(tsjDeviceExecutionQueues)) { TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueues.get(0); - - //提升机移动到小车楼层 需要判断目标楼层入库点位小车是否到位 - WcsPort param = new WcsPort(); - param.setPortType("1"); - param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer()); - param.setStatus("1"); - param.setSpare2("1"); - List wcsInPorts = wcsPortService.selectWcsPortList(param); - if (CollUtil.isEmpty(wcsInPorts)) { - log.info("提升机任务[{}]下发 目标楼层[{}]入库点位空闲 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer()); - return; + if (tsjDeviceExecutionQueue.getSendFlag()==null) { + writeToTsj(tsjDeviceExecutionQueue); } - //提升机承载小车到目标楼层 需要判断目标楼层出库点位是否空闲 - WcsPort param1 = new WcsPort(); - param1.setPortType("1"); - param1.setPortRegion(tsjDeviceExecutionQueue.getTarLayer()); - param1.setStatus("0"); - param1.setSpare2("1"); - List wcsOutPorts = wcsPortService.selectWcsPortList(param1); - if (CollUtil.isEmpty(wcsOutPorts)) { - log.info("提升机任务[{}]下发 目标楼层[{}]出库点位占用 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer()); - return; - } - - writeToTsj(tsjDeviceExecutionQueues.get(0)); - log.info("提升机任务下发 taskNo{} 任务类型:{}", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getRwlx()); } } @@ -241,36 +215,49 @@ public class TsjThread implements Runnable { * @param tsjDeviceExecutionQueue */ private void writeToTsj(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) { - SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo())); - SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow())); - SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer())); - SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow())); - SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer())); - SendData sendType = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSendType())); - SendData completedSendData = new SendData(Tools.INT, 1); - int jym = Tools.getJYM(taskNoSendData.getNum2(), srcRow.getNum2(), srcLayer.getNum2(), tarRow.getNum2(), tarLayer.getNum2(), sendType.getNum2(), completedSendData.getNum2()); - SendData jymSendData = new SendData(Tools.INT, jym); - byte[] bytes = Tools.sendData(taskNoSendData, srcRow, srcLayer, tarRow, tarLayer, sendType, completedSendData, jymSendData); - DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId())); - if (ObjUtil.isNotNull(deviceTsj)) { - PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes); + String taskNo= String.valueOf(tsjDeviceExecutionQueue.getTaskNo()); + int rwlx = Integer.parseInt(tsjDeviceExecutionQueue.getRwlx()); + int src_of_goods= Integer.parseInt(tsjDeviceExecutionQueue.getSrcLayer()); + int dest_of_goods= Integer.parseInt(tsjDeviceExecutionQueue.getTarLayer()); + final int i = PlcTsjRead.writeToTsj(taskNo, rwlx, src_of_goods, dest_of_goods, 1); + if (i > 0) { + TsjDeviceExecutionQueue queryQueue = new TsjDeviceExecutionQueue(); + queryQueue.setTaskNo(Convert.toLong(taskNo)); + final List tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(queryQueue); + if (!tsjDeviceExecutionQueues.isEmpty()){ + TsjDeviceExecutionQueue tsjDeviceExecutionQueue1=tsjDeviceExecutionQueues.get(0); + tsjDeviceExecutionQueue1.setSendFlag("1"); + tsjDeviceExecutionQueue1.setStartDate(DateUtil.formatDateTime(DateUtil.date())); + tsjDeviceExecutionQueueService.updateTsjDeviceExecutionQueue(tsjDeviceExecutionQueue1); + log.info("提升机任务下发成功 taskNo{} 任务类型:{}", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getRwlx()); + }else { + log.info("未找到执行队列 任务号{}",tsjDeviceExecutionQueue.getTaskNo()); + } + }else { + log.info("提升机任务下发失败 taskNo{} 任务类型:{}", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getRwlx()); } } - private void finishTask(Long taskNo) { - + private void finishTask(DeviceTsj tsj) { //根据任务号查询队列 修改执行状态 - TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(taskNo); + TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(tsj.getRwh()); if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) { //完成提升机任务 插入历史表 - TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish(); - BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish); - tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date())); - tsjDeviceExecutionQueueFinishService.insertTsjDeviceExecutionQueueFinish(tsjDeviceExecutionQueueFinish); - tsjDeviceExecutionQueueService.deleteTsjDeviceExecutionQueueByGuid(tsjDeviceExecutionQueue.getGuid()); - log.info("提升机任务下发完成 taskNo{} 任务类型:{}", taskNo, "提升机任务"); + String senFlag= tsjDeviceExecutionQueue.getSendFlag()==null?"0":"1"; + if (tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))&&senFlag.equals("1")){ + TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish(); + BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish); + tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date())); + tsjDeviceExecutionQueueFinishService.insertTsjDeviceExecutionQueueFinish(tsjDeviceExecutionQueueFinish); + tsjDeviceExecutionQueueService.deleteTsjDeviceExecutionQueueByGuid(tsjDeviceExecutionQueue.getGuid()); + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(tsj.getRwh()); + if (mydoJob != null&&!tsjDeviceExecutionQueue.getRwlx().equals("3")) { + mydoJob.setExecutionPhase("3"); + mydoJobService.updateMydoJob(mydoJob); + } + 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/mapper/device/DeviceSsjMapper.xml b/ruoyi-admin/src/main/resources/mapper/device/DeviceSsjMapper.xml index 0c57cd0..f176ca4 100644 --- a/ruoyi-admin/src/main/resources/mapper/device/DeviceSsjMapper.xml +++ b/ruoyi-admin/src/main/resources/mapper/device/DeviceSsjMapper.xml @@ -22,10 +22,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" + + - select id, device_code , name , type, ip_address, plc_db_read_address, is_active, create_time, plc_db_write_address, rkqq, kx, dw, tray_code, task_no,exception,tray_size,allow_put from device_ssj + select id, device_code , name , type, ip_address, plc_db_read_address, is_active, create_time, plc_db_write_address, rkqq, kx, dw, tray_code, task_no, exception, tray_size, allow_put, czms, rkdw from device_ssj @@ -75,6 +79,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" dw, tray_code, task_no, + czms, + rkdw, #{deviceCode }, @@ -90,6 +96,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" #{dw}, #{trayCode}, #{taskNo}, + #{czms}, + #{rkdw}, @@ -104,6 +112,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" exception = #{exception}, tray_size = #{traySize}, allow_put = #{allowPut}, + czms = #{czms}, + rkdw = #{rkdw}, where id = #{id}