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测试 +修改

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This commit is contained in:
zgw
2025-12-18 10:40:00 +08:00
parent 0feecacfdf
commit d8412ac3cc
14 changed files with 701 additions and 587 deletions
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6
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/TestServiceImpl.java
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@@ -39,7 +39,8 @@ public class TestServiceImpl implements ITestService {
SendData xtxh = new SendData(Tools.INT, msgDdj.getXtxh()); SendData xtxh = new SendData(Tools.INT, msgDdj.getXtxh());
SendData trayCode = new SendData(Tools.INT, Convert.toInt(msgDdj.getSpare2())); 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); 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) { if (i == 1) {
System.out.println("写入成功"); System.out.println("写入成功");
return true; return true;
@@ -59,7 +60,8 @@ public class TestServiceImpl implements ITestService {
byte[] bytes = Tools.sendData(kx, dw, rkqq, taskNo); 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) { if (i == 1) {
System.out.println("写入成功"); System.out.println("写入成功");
return true; return true;

2
ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java
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@@ -61,7 +61,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
//3.锁定离线小车当前位置 //3.锁定离线小车当前位置
lockedOfflineCarCurrSite(maps, deviceSrgv); lockedOfflineCarCurrSite(maps, deviceSrgv);
int[][] mapsInt = new int[29][11]; int[][] mapsInt = new int[29][15];
for (String site : maps.keySet()) { for (String site : maps.keySet()) {
WcsSrgvMap wcsSrgvMap = maps.get(site); WcsSrgvMap wcsSrgvMap = maps.get(site);
mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue(); mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();

9
ruoyi-admin/src/main/java/com/ruoyi/common/domain/SendData2.java
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@@ -11,6 +11,15 @@ public class SendData2 {
private int type;//1单字 2双字 3字符串 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() { public String getAddress() {
return address; return address;
} }

5
ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java
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@@ -84,6 +84,11 @@ public class DeviceSsj extends BaseEntity
@Excel(name="输送线模式 1-入库 2-出库") @Excel(name="输送线模式 1-入库 2-出库")
private int model; private int model;
@Excel(name = "操作模式")
private int czms;
@Excel(name = "入库到位")
private int rkdw;
} }

2
ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java
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@@ -104,7 +104,7 @@ public class JobCallBackController extends BaseController
return toAjax(jobCallBackService.deleteJobCallBackByIds(ids)); return toAjax(jobCallBackService.deleteJobCallBackByIds(ids));
} }
//@Scheduled(fixedDelay=1500) @Scheduled(fixedDelay=1500)
public void jobCallBack() { public void jobCallBack() {
jobCallBackService.jobCallBack(); jobCallBackService.jobCallBack();
} }

76
ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java
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@@ -1,5 +1,6 @@
package com.ruoyi.schedule; package com.ruoyi.schedule;
import HslCommunication.Core.Types.OperateResultExOne;
import com.ruoyi.common.domain.CustomThread; import com.ruoyi.common.domain.CustomThread;
import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.device.ddj.domain.MsgDdj; 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.srgv.service.IDeviceSrgvService;
import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.device.ssj.service.IDeviceSsjService; 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.ddj.PlcDdjRead;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; 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.cdz.CdzThread;
import com.ruoyi.schedule.scheduleTask.ddj.impl.Ddj1Thread; import com.ruoyi.schedule.scheduleTask.ddj.impl.Ddj1Thread;
import com.ruoyi.schedule.scheduleTask.monit.MonitoringThread; import com.ruoyi.schedule.scheduleTask.monit.MonitoringThread;
@@ -31,6 +35,7 @@ import java.util.concurrent.ConcurrentHashMap;
public class ScheduleThread { public class ScheduleThread {
public CustomThread<PlcSsjRead> plcSsjReadCustomThread; public CustomThread<PlcSsjRead> plcSsjReadCustomThread;
public CustomThread<PlcTsjRead> plcTsjReadCustomThread;
public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread1; public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread1;
public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread2; public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread2;
public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread3; public CustomThread<PlcSrgvRead> plcSrgvReadCustomThread3;
@@ -53,6 +58,8 @@ public class ScheduleThread {
private boolean isRun = false; private boolean isRun = false;
private boolean isRun2 = false; private boolean isRun2 = false;
@Autowired
private DeviceTsjServiceImpl deviceTsjServiceImpl;
/** /**
* 项目初始化启动 * 项目初始化启动
@@ -66,51 +73,50 @@ public class ScheduleThread {
scheduleInit(); scheduleInit();
log.info("调度服务执行成功"); log.info("调度服务执行成功");
} }
/** /**
* 调度初始化 * 调度初始化
*/ */
private void scheduleInit() { private void scheduleInit() {
MonitoringThread monitoringThread = new MonitoringThread(); //输送机线程
monitoringCustomThread = new CustomThread<MonitoringThread>(new Thread(monitoringThread), monitoringThread);
SsjThread ssjThread=new SsjThread(); SsjThread ssjThread=new SsjThread();
ssjThreadCustomThread=new CustomThread<SsjThread>(new Thread(ssjThread),ssjThread); ssjThreadCustomThread=new CustomThread<SsjThread>(new Thread(ssjThread),ssjThread);
// //四向车线程
SRgv1Thread srgvThread=new SRgv1Thread(); SRgv1Thread srgvThread=new SRgv1Thread();
sRgvThreadCustomThread=new CustomThread<>(new Thread(srgvThread),srgvThread); sRgvThreadCustomThread=new CustomThread<>(new Thread(srgvThread),srgvThread);
//提升机线程
TsjThread tsjThread=new TsjThread(); TsjThread tsjThread=new TsjThread();
tsjThreadCustomThread=new CustomThread<>(new Thread(tsjThread),tsjThread); tsjThreadCustomThread=new CustomThread<>(new Thread(tsjThread),tsjThread);
CdzThread cdzThread = new CdzThread(); // //充电线程
cdzThreadCustomThread=new CustomThread<>(new Thread(cdzThread),cdzThread); // CdzThread cdzThread = new CdzThread();
// Ddj1Thread ddj1Thread = new Ddj1Thread(); // cdzThreadCustomThread=new CustomThread<>(new Thread(cdzThread),cdzThread);
// 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);*/
} }
/** /**
* plc读取初始化 * plc读取初始化
*/ */
private void plcReadInit() { private void plcReadInit() {
ConcurrentHashMap<String, DeviceSsj> ssjList = new ConcurrentHashMap<>(); ConcurrentHashMap<String, DeviceSsj> ssjList = new ConcurrentHashMap<>();
//获取要去取的输送机 //获取要取的输送机
List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj()); List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj());
for (DeviceSsj deviceSsj : deviceSsjs) { for (DeviceSsj deviceSsj : deviceSsjs) {
ssjList.put(deviceSsj.getDeviceCode(), deviceSsj); ssjList.put(deviceSsj.getDeviceCode(), deviceSsj);
} }
//plc输送机读取线程 //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); Thread plcSsjReadThread = new Thread(plcSsjRead);
plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead); plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead);
ConcurrentHashMap<String, DeviceTsj> tsjList = new ConcurrentHashMap<>();
//获取要取的提升机
List<DeviceTsj> 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<PlcTsjRead>(plcTsjReadThread, plcTsjRead);
ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>(); ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>();
List<DeviceSrgv> srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv()); List<DeviceSrgv> srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
for(DeviceSrgv srgv:srgvs){ for(DeviceSrgv srgv:srgvs){
@@ -126,17 +132,12 @@ public class ScheduleThread {
Thread plcSrgvReadThread2 = new Thread((plcSrgvRead2)); Thread plcSrgvReadThread2 = new Thread((plcSrgvRead2));
plcSrgvReadCustomThread2=new CustomThread<PlcSrgvRead>(plcSrgvReadThread2,plcSrgvRead2); plcSrgvReadCustomThread2=new CustomThread<PlcSrgvRead>(plcSrgvReadThread2,plcSrgvRead2);
break; break;
/*case 3:
PlcSrgvRead plcSrgvRead3=new PlcSrgvRead(srgv,new PlcConnectInfo(srgv.getIp(),srgv.getPort()));
Thread plcSrgvReadThread3 = new Thread((plcSrgvRead3));
plcSrgvReadCustomThread3=new CustomThread<PlcSrgvRead>(plcSrgvReadThread3,plcSrgvRead3);
break;*/
} }
} }
PlcSrgvRead.deviceSrgvMap=srgvList; PlcSrgvRead.deviceSrgvMap=srgvList;
//监控线程
MonitoringThread monitoringThread = new MonitoringThread();
monitoringCustomThread = new CustomThread<MonitoringThread>(new Thread(monitoringThread), monitoringThread);
} }
/** /**
@@ -145,10 +146,9 @@ public class ScheduleThread {
public void startAllThread() { public void startAllThread() {
plcSsjReadCustomThread.getThread().start(); plcSsjReadCustomThread.getThread().start();
plcSrgvReadCustomThread1.getThread().start(); plcSrgvReadCustomThread1.getThread().start();
//plcSrgvReadCustomThread2.getThread().start(); // plcSrgvReadCustomThread2.getThread().start();
//plcSrgvReadCustomThread3.getThread().start(); plcTsjReadCustomThread.getThread().start();
monitoringCustomThread.getThread().start();
isRun = true; isRun = true;
} }
@@ -156,17 +156,10 @@ public class ScheduleThread {
* 开启线程2 * 开启线程2
*/ */
public void startAllThread2() { public void startAllThread2() {
monitoringCustomThread.thread.start();
ssjThreadCustomThread.thread.start(); ssjThreadCustomThread.thread.start();
//tsjThreadCustomThread.thread.start(); tsjThreadCustomThread.thread.start();
sRgvThreadCustomThread.thread.start(); sRgvThreadCustomThread.thread.start();
//cdzThreadCustomThread.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; isRun2 = true;
} }
@@ -209,4 +202,5 @@ public class ScheduleThread {
map.put("isRun2",isRun2); map.put("isRun2",isRun2);
return map; return map;
} }
} }

75
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java
View File

@@ -39,14 +39,14 @@ public class PlcSrgvRead implements Runnable {
this.station = (byte) 1; 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); OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess; 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); OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess; return write.IsSuccess;
@@ -58,26 +58,14 @@ public class PlcSrgvRead implements Runnable {
public void run() { public void run() {
while (isRun) { while (isRun) {
try { try {
/*if (IsConnect()) { if (IsConnect()) {
if (deviceSrgv != null) {
*//*if (deviceSrgv != null) { readSrgvPlc(deviceSrgv);
//readSrgvPlc(deviceSrgv); }
}*//*
} else { } else {
reConnect(); reConnect();
}*/
//todo 测试使用
IDeviceSrgvService deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
List<DeviceSrgv> srgvs=deviceSrgvService.selectDeviceSrgvList(new DeviceSrgv());
ConcurrentHashMap<String, DeviceSrgv> srgvList = new ConcurrentHashMap<>();
for(DeviceSrgv srgv:srgvs){
srgvList.put(srgv.getDeviceId().toString(),srgv);
} }
PlcSrgvRead.deviceSrgvMap=srgvList; Thread.sleep(1500);
Thread.sleep(1000);
} catch (InterruptedException e) { } catch (InterruptedException e) {
// 捕获中断异常，退出循环 // 捕获中断异常，退出循环
Thread.currentThread().interrupt(); // 重新设置中断标志 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) { private void readSrgvPlc(DeviceSrgv deviceSrgv) {
OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("2400", (short) 15);//2400-2414 OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("4068", (short) 15);//2400-2414
if (read1.IsSuccess) { if (read1.IsSuccess) {
setValueByByte1(read1.Content, deviceSrgv); setValueByByte1(read1.Content, deviceSrgv);
} }
//读取双字 //读取双字
OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4800", (short) 8);// 4800-4807任务号、原点、目标点、当前 OperateResultExOne<byte[]> read2 = modbusTcpNet.Read("4060", (short) 8);// 4800-4807任务号、原点、目标点、当前
if (read2.IsSuccess) { if (read2.IsSuccess) {
setValueByByte2(read2.Content, deviceSrgv); setValueByByte2(read2.Content, deviceSrgv);
} }
//读取双字，路径 // //读取双字，路径
OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("5000", (short) 800);// 5000-5799 路径 400个 // OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("5000", (short) 800);// 5000-5799 路径 400个
setValueByByte3(read3.Content, deviceSrgv); // setValueByByte3(read3.Content, deviceSrgv);
} }
//单字 //单字
@@ -113,33 +101,34 @@ public class PlcSrgvRead implements Runnable {
agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4))); agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4)));
agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6))); agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6)));
agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8))); agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10))); //接收完成标志
agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 12))); // agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 14))); agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 12)));
agvData.setErrMsg(Convert.toInt(byteTransform.TransInt16(content, 16))); agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 14)));
agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 18))); agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 16)));
agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 20))); agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 18)));
agvData.setCargoFlag(Convert.toInt(byteTransform.TransInt16(content, 22))); agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 20)));
agvData.setManualCharge(Convert.toInt(byteTransform.TransInt16(content, 24))); agvData.setSpare2(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 22))));
agvData.setSpare1(Convert.toStr(byteTransform.TransInt16(content, 0))); agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 24)));//换层标志
agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 16)));
} }
private void setValueByByte2(byte[] content, DeviceSrgv agvData) { private void setValueByByte2(byte[] content, DeviceSrgv agvData) {
byteTransform.setDataFormat(DataFormat.CDAB); byteTransform.setDataFormat(DataFormat.CDAB);
// TODO 注意双字反转 // TODO 注意双字反转
agvData.setTaskNo(byteTransform.TransInt32(content, 0)); 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))); 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))); 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))); 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 //设置库区
String currSite = agvData.getCurrSite(); String currSite = String.format("%06d", byteTransform.TransInt32(content, 12));
String l = currSite.substring(2, 4); String l = currSite.substring(2, 4);
//截取cur的后俩位，获取当前楼层 //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; this.layer = floor;
agvData.setCurrFloor(floor); agvData.setCurrFloor(floor);
} }
@@ -200,7 +189,7 @@ public class PlcSrgvRead implements Runnable {
void reConnect() { void reConnect() {
closeServer(); closeServer();
ConnectServer(); ConnectServer();
log.info("重新连接 SSJ-PLC"); log.info("重新连接 四象车-PLC");
} }
void closeServer() { void closeServer() {
@@ -210,5 +199,13 @@ public class PlcSrgvRead implements Runnable {
setIsConnect(false); setIsConnect(false);
} }
public String getSite(String siteId){
if (siteId.equals("030502")||siteId.equals("030501")||siteId.equals("030503")){
return "tsj";
}else {
return siteId;
}
}
} }

251
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java
View File

@@ -2,24 +2,34 @@ package com.ruoyi.schedule.plcRead.ssj;
import HslCommunication.BasicFramework.SoftBasic; import HslCommunication.BasicFramework.SoftBasic;
import HslCommunication.Core.Net.IReadWriteNet; import HslCommunication.Core.Net.IReadWriteNet;
import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Transfer.IByteTransform;
import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net; import HslCommunication.Profinet.Siemens.SiemensS7Net;
import cn.hutool.core.convert.Convert;
import com.ruoyi.common.domain.SendData; import com.ruoyi.common.domain.SendData;
import com.ruoyi.common.domain.SendData2;
import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.ddj.domain.MsgDdj; import com.ruoyi.device.ddj.domain.MsgDdj;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.common.domain.HslRead; import com.ruoyi.common.domain.HslRead;
import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.device.ssj.service.impl.DeviceSsjServiceImpl; 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.ParseUtil;
import com.ruoyi.schedule.plcRead.util.Tools; import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.apache.commons.beanutils.LazyDynaClass;
import java.util.ArrayList;
import java.util.Arrays; import java.util.Arrays;
import java.util.List; import java.util.List;
import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@Slf4j @Slf4j
public class PlcSsjRead implements Runnable { public class PlcSsjRead implements Runnable {
@@ -27,59 +37,47 @@ public class PlcSsjRead implements Runnable {
public static ConcurrentHashMap<String, DeviceSsj> deviceSsjMap; public static ConcurrentHashMap<String, DeviceSsj> deviceSsjMap;
public volatile boolean isRun = true; public volatile boolean isRun = true;
public SiemensS7Net siemensS7Net = null;
public static IReadWriteNet readWriteNet = null; public static IReadWriteNet readWriteNet = null;
private final String ip; private final String ip;
private final int port; private final int port;
private boolean success = false; private boolean success = false;
private DeviceSsj ssjDevice;
private static ModbusTcpNet modbusTcpNet;
private IByteTransform byteTransform = null;
public PlcSsjRead(ConcurrentHashMap<String, DeviceSsj> deviceSsjMap, PlcConnectInfo plcConnectInfo) { public PlcSsjRead(ConcurrentHashMap<String, DeviceSsj> deviceSsjMap, PlcConnectInfo plcConnectInfo) {
PlcSsjRead.deviceSsjMap = deviceSsjMap; PlcSsjRead.deviceSsjMap = deviceSsjMap;
ssjDevice = deviceSsjMap.get("L1001");
this.ip = plcConnectInfo.getIp(); this.ip = plcConnectInfo.getIp();
this.port = plcConnectInfo.getPort(); this.port = plcConnectInfo.getPort();
} }
public static int WriteToSSJ(String address, byte[] data) { public static boolean Write(String address, int[] value) {
int a = 0;
if (readWriteNet != null) { OperateResult write = modbusTcpNet.Write(address, value);
a = HslRead.WriteResultRender(readWriteNet.Write(address, data), address); return write.IsSuccess;
} }
return a;
public static boolean Write(String address, short[] value) {
OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess;
} }
@Override @Override
public void run() { public void run() {
while (isRun) { while (isRun) {
try { try {
/*if (IsConnect()) { if (IsConnect()) {
int step = 20; if (ssjDevice != null) {
int baseOffset = 0;
*//*for (String ssjCode : deviceSsjMap.keySet()) {
DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode);
switch (ssjDevice.getType()) {
case "1":
readPlcLineSsj(ssjDevice); readPlcLineSsj(ssjDevice);
break;
case "2":
readPlcInOutSsj(ssjDevice);
break;
case "3":
readPlcOtherSsj(ssjDevice);
break;
} }
}*//*
} else { } else {
reConnect(); reConnect();
}*/
DeviceSsjServiceImpl deviceSsjService = SpringUtils.getBean(DeviceSsjServiceImpl.class);
List<DeviceSsj> deviceSsjs = deviceSsjService.selectDeviceSsjList(new DeviceSsj());
ConcurrentHashMap<String, DeviceSsj> ssjList = new ConcurrentHashMap<>();
for (DeviceSsj deviceSsj : deviceSsjs) {
ssjList.put(deviceSsj.getDeviceCode(), deviceSsj);
} }
PlcSsjRead.deviceSsjMap = ssjList; Thread.sleep(1500);
Thread.sleep(1000);
} catch (InterruptedException e) { } catch (InterruptedException e) {
// 捕获中断异常，退出循环 // 捕获中断异常，退出循环
Thread.currentThread().interrupt(); // 重新设置中断标志 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 * 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 readPlcOtherSsj(DeviceSsj ssjDevice) {
OperateResultExOne<byte[]> 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<byte[]> 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<byte[]> 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
* *
* @param ssjDevice * @param ssjDevice
*/ */
private void readPlcLineSsj(DeviceSsj ssjDevice) { private void readPlcLineSsj(DeviceSsj ssjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("220")); OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("1110", (short) 1);//1110 操作模式
String ddsx1 = "0"; 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<byte[]> read2 = modbusTcpNet.Read("1111", (short) 2);//1111 任务号
if (read2.IsSuccess) { if (read2.IsSuccess) {
ddsx1 = SoftBasic.ByteToHexString(read2.Content); byteTransform.setDataFormat(DataFormat.CDAB);
ssjDevice.setKx(ParseUtil.optInt(0, ddsx1)); // TODO 注意双字反转
ssjDevice.setDw(ParseUtil.optInt(2, ddsx1)); ssjDevice.setTaskNo(byteTransform.TransInt32(read2.Content, 0));
ssjDevice.setRkqq(ParseUtil.optInt(4, ddsx1)); log.info("=====读取到输送机任务号:{}=======", byteTransform.TransInt32(read2.Content, 0));
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<byte[]> trayCodeRead = readWriteNet.Read(trayCodeReadAddress, Short.parseShort("220")); OperateResultExOne<byte[]> read3 = modbusTcpNet.Read("1113", (short) 2);//1113 空闲 1114 设备状态
if (trayCodeRead.IsSuccess){ if (read3.IsSuccess) {
byte[] content = trayCodeRead.Content; ssjDevice.setKx(Convert.toInt(byteTransform.TransInt16(read3.Content, 0)));
//去除bytes中 log.info("=====读取到输送机空闲:{}=======", Convert.toInt(byteTransform.TransInt16(read3.Content, 0)));
ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content)); log.info("=====读取到输送机设备状态:{}=======", Convert.toInt(byteTransform.TransInt16(read3.Content, 2)));
} }
OperateResultExOne<byte[]> 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<byte[]> 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<byte[]> 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() { void ConnectServer() {
siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500); modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
try { try {
siemensS7Net.setIpAddress(this.ip); modbusTcpNet.setIpAddress(this.ip);
siemensS7Net.setPort(this.port); modbusTcpNet.setPort(this.port);
siemensS7Net.setRack((byte) 0); modbusTcpNet.setStation((byte) 1);
siemensS7Net.setSlot((byte) 1); this.byteTransform = modbusTcpNet.getByteTransform();
OperateResult connect = modbusTcpNet.ConnectServer();
OperateResult connect = siemensS7Net.ConnectServer();
if (connect.IsSuccess) { if (connect.IsSuccess) {
setIsConnect(true); setIsConnect(true);
readWriteNet = siemensS7Net; readWriteNet = modbusTcpNet;
} }
} catch (Exception ex) { } 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() { void reConnect() {
closeServer(); closeServer();
ConnectServer(); ConnectServer();
log.info("重新连接 SSJ-PLC"); log.info("重新连接输送机-PLC");
} }
void closeServer() { void closeServer() {
@@ -227,18 +187,45 @@ public class PlcSsjRead implements Runnable {
setIsConnect(false); setIsConnect(false);
} }
public static int writeToSsj(String address, String taskNo, int qx , int completed) { public static int writeToSsj(String taskNo, int qx, int completed) {
List<SendData2> sendDataList = new ArrayList<>();
int jym = Tools.getJYM(Integer.parseInt(taskNo), qx, completed); sendDataList.add(new SendData2("1100", taskNo, 2));
SendData taskNoSendData = new SendData(Tools.INT, taskNo); sendDataList.add(new SendData2("1102", String.valueOf(qx), 1));
SendData qxSendData = new SendData(Tools.INT, qx); sendDataList.add(new SendData2("1103", String.valueOf(completed), 1));
SendData completedSendData = new SendData(Tools.INT, completed); int b = 1;
SendData jymSendData = new SendData(Tools.INT, jym); for (SendData2 sendData : sendDataList) {
byte[] bytes = Tools.sendData(taskNoSendData, qxSendData, completedSendData, jymSendData); String address = sendData.getAddress();
return PlcSsjRead.WriteToSSJ(address, bytes); 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;
} }
} }

138
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java
View File

@@ -2,20 +2,30 @@ package com.ruoyi.schedule.plcRead.tsj;
import HslCommunication.BasicFramework.SoftBasic; import HslCommunication.BasicFramework.SoftBasic;
import HslCommunication.Core.Net.IReadWriteNet; import HslCommunication.Core.Net.IReadWriteNet;
import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Transfer.IByteTransform;
import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net; import HslCommunication.Profinet.Siemens.SiemensS7Net;
import cn.hutool.core.convert.Convert; import cn.hutool.core.convert.Convert;
import com.ruoyi.common.domain.HslRead; import com.ruoyi.common.domain.HslRead;
import com.ruoyi.common.domain.PlcConnectInfo; import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.common.domain.SendData; 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.device.tsj.domain.DeviceTsj;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.util.ParseUtil; import com.ruoyi.schedule.plcRead.util.ParseUtil;
import com.ruoyi.schedule.plcRead.util.Tools; import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j; 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.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@Slf4j @Slf4j
public class PlcTsjRead implements Runnable { public class PlcTsjRead implements Runnable {
@@ -23,24 +33,33 @@ public class PlcTsjRead implements Runnable {
public static ConcurrentHashMap<String, DeviceTsj> deviceTsjMap; public static ConcurrentHashMap<String, DeviceTsj> deviceTsjMap;
public volatile boolean isRun = true; public volatile boolean isRun = true;
public SiemensS7Net siemensS7Net = null;
public static IReadWriteNet readWriteNet = null; public static IReadWriteNet readWriteNet = null;
private final String ip; private final String ip;
private final int port; private final int port;
private boolean success = false; private boolean success = false;
private final DeviceTsj deviceTsj;
private static ModbusTcpNet modbusTcpNet;
private IByteTransform byteTransform = null;
public PlcTsjRead(ConcurrentHashMap<String, DeviceTsj> deviceTsjMap, PlcConnectInfo plcConnectInfo) { public PlcTsjRead(ConcurrentHashMap<String, DeviceTsj> deviceTsjMap, PlcConnectInfo plcConnectInfo) {
PlcTsjRead.deviceTsjMap = deviceTsjMap; PlcTsjRead.deviceTsjMap = deviceTsjMap;
deviceTsj = deviceTsjMap.get("tsj1");
this.ip = plcConnectInfo.getIp(); this.ip = plcConnectInfo.getIp();
this.port = plcConnectInfo.getPort(); this.port = plcConnectInfo.getPort();
} }
public static int WriteToTSJ(String address, byte[] data) { public static boolean Write(String address, int[] value) {
int a = 0;
if (readWriteNet != null) { OperateResult write = modbusTcpNet.Write(address, value);
a = HslRead.WriteResultRender(readWriteNet.Write(address, data), address); return write.IsSuccess;
} }
return a;
public static boolean Write(String address, short[] value) {
OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess;
} }
@Override @Override
@@ -48,9 +67,8 @@ public class PlcTsjRead implements Runnable {
while (isRun) { while (isRun) {
try { try {
if (IsConnect()) { if (IsConnect()) {
for (String tsjCode : deviceTsjMap.keySet()) { if (deviceTsj != null) {
DeviceTsj tsjDevice = deviceTsjMap.get(tsjCode); readPlcLineTsj(deviceTsj);
plcRead(tsjDevice);
} }
Thread.sleep(1000); Thread.sleep(1000);
} else { } else {
@@ -67,41 +85,46 @@ public class PlcTsjRead implements Runnable {
} }
} }
private void plcRead(DeviceTsj tsjDevice) { private void readPlcLineTsj(DeviceTsj tsjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("220")); OperateResultExOne<byte[]> read1 = modbusTcpNet.Read("1013", (short) 2);//1013 任务号
String ddsx1 = "0"; if (read1.IsSuccess) {
if (read2.IsSuccess) { byteTransform.setDataFormat(DataFormat.CDAB);
ddsx1 = SoftBasic.ByteToHexString(read2.Content); // TODO 注意双字反转
tsjDevice.setCzfs(ParseUtil.optInt(2, ddsx1)); deviceTsj.setRwh((long) byteTransform.TransInt32(read1.Content, 0));
tsjDevice.setSbzt(ParseUtil.optInt(4, ddsx1)); log.info("=====读取到提升机任务号:{}=======", byteTransform.TransInt32(read1.Content, 0));
tsjDevice.setRwh(Convert.toLong(ParseUtil.optDInt(6, ddsx1))); }
tsjDevice.setDqcs(ParseUtil.optInt(10, ddsx1)); OperateResultExOne<byte[]> 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
tsjDevice.setJdbz(ParseUtil.optInt(12, ddsx1)); if (read1.IsSuccess) {
tsjDevice.setYph(ParseUtil.optInt(14, ddsx1)); deviceTsj.setCzfs(Convert.toInt(byteTransform.TransInt16(read2.Content, 0)));
tsjDevice.setYch(ParseUtil.optInt(16, ddsx1)); log.info("=====读取到提升机操作模式:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 0)));
tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1)); deviceTsj.setSbzt(Convert.toInt(byteTransform.TransInt16(read2.Content, 2)));
tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1)); log.info("=====读取到提升机设备状态:{}======", Convert.toInt(byteTransform.TransInt16(read2.Content, 2)));
tsjDevice.setYxxf(ParseUtil.optInt(22, ddsx1)); deviceTsj.setDqcs(Convert.toInt(byteTransform.TransInt16(read2.Content, 4)));
tsjDevice.setXtxh(ParseUtil.optInt(24, ddsx1)); 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() { void ConnectServer() {
siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500); modbusTcpNet = new ModbusTcpNet();
try { try {
siemensS7Net.setIpAddress(this.ip); modbusTcpNet.setIpAddress(this.ip);
siemensS7Net.setPort(this.port); modbusTcpNet.setPort(this.port);
siemensS7Net.setRack((byte) 0); modbusTcpNet.setStation((byte) 1);
siemensS7Net.setSlot((byte) 1); this.byteTransform = modbusTcpNet.getByteTransform();
OperateResult connect = modbusTcpNet.ConnectServer();
OperateResult connect = siemensS7Net.ConnectServer();
if (connect.IsSuccess) { if (connect.IsSuccess) {
setIsConnect(true); setIsConnect(true);
readWriteNet = siemensS7Net; readWriteNet = modbusTcpNet;
} }
} catch (Exception ex) { } 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() { void reConnect() {
closeServer(); closeServer();
ConnectServer(); ConnectServer();
log.info("重新连接 SSJ-PLC"); log.info("重新连接提升机PLC");
} }
void closeServer() { void closeServer() {
@@ -132,5 +155,50 @@ public class PlcTsjRead implements Runnable {
setIsConnect(false); setIsConnect(false);
} }
public static int writeToTsj(String taskNo, int rwlx, int hwly , int qx ,int completed) {
List<SendData2> 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;
}
} }

19
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java
View File

@@ -5,34 +5,33 @@ import com.ruoyi.device.ddj.service.IMsgDdjService;
import com.ruoyi.device.srgv.service.IDeviceSrgvService; import com.ruoyi.device.srgv.service.IDeviceSrgvService;
import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.device.ssj.service.IDeviceSsjService; 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.ddj.PlcDdjRead;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
/** /**
* 监控线程 * 监控线程
*/ */
@Slf4j @Slf4j
public class MonitoringThread implements Runnable { public class MonitoringThread implements Runnable {
public boolean isRun = true; public boolean isRun = true;
private IDeviceSsjService deviceSsjService; private IDeviceSsjService deviceSsjService;
private IMsgDdjService msgDdjService;
private IDeviceSrgvService deviceSrgvService; private IDeviceSrgvService deviceSrgvService;
private DeviceTsjServiceImpl deviceTsjService;
public void init() { public void init() {
deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class); deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class);
msgDdjService = SpringUtils.getBean(IMsgDdjService.class);
deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class); deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
deviceTsjService = SpringUtils.getBean(DeviceTsjServiceImpl.class);
} }
@Override @Override
public void run() { public void run() {
init(); init();
while (isRun){ while (isRun) {
for (String ssjCode : PlcSsjRead.deviceSsjMap.keySet()) { for (String ssjCode : PlcSsjRead.deviceSsjMap.keySet()) {
DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get(ssjCode); DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get(ssjCode);
deviceSsj.setTraySize(deviceSsj.getModel()); deviceSsj.setTraySize(deviceSsj.getModel());
@@ -43,14 +42,14 @@ public class MonitoringThread implements Runnable {
deviceSrgvService.updateDeviceSrgv(PlcSrgvRead.deviceSrgvMap.get(sRgv)); deviceSrgvService.updateDeviceSrgv(PlcSrgvRead.deviceSrgvMap.get(sRgv));
} }
for (String tsj : PlcTsjRead.deviceTsjMap.keySet()) {
deviceTsjService.updateDeviceTsj(PlcTsjRead.deviceTsjMap.get(tsj));
}
try { try {
Thread.sleep(1500); Thread.sleep(1500);
} catch (InterruptedException e) { } catch (InterruptedException e) {
throw new RuntimeException(e); throw new RuntimeException(e);
} }
} }
} }
} }

320
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -14,11 +14,14 @@ import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.cdz.domain.DeviceCdz; import com.ruoyi.device.cdz.domain.DeviceCdz;
import com.ruoyi.device.srgv.domain.DeviceSrgv; import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.srgv.service.IDeviceSrgvService; 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.device.tsj.domain.DeviceTsj;
import com.ruoyi.job.charg.domain.SrgvChargingJob; import com.ruoyi.job.charg.domain.SrgvChargingJob;
import com.ruoyi.job.charg.service.ISrgvChargingJobService; import com.ruoyi.job.charg.service.ISrgvChargingJobService;
import com.ruoyi.job.domain.JobCallBack;
import com.ruoyi.job.domain.MydoJob; import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.job.service.IMydoJobService; 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.domain.WcsSrgvQueue;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
@@ -63,13 +66,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
public IDeviceSrgvService deviceSrgvService; public IDeviceSrgvService deviceSrgvService;
public JobCallBackServiceImpl jobCallBackService;
public void init() { public void init() {
sRgvCodeList = new HashMap<>(); sRgvCodeList = new HashMap<>();
ArrayList<String> sRgvCodes = new ArrayList<>(); ArrayList<String> sRgvCodes = new ArrayList<>();
sRgvCodes.add("1"); sRgvCodes.add("1");
sRgvCodes.add("2"); // sRgvCodes.add("2");
sRgvCodes.add("3");
sRgvCodeList.put("srgv", sRgvCodes); sRgvCodeList.put("srgv", sRgvCodes);
wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class); wcsSagvQueueMapper = SpringUtils.getBean(IWcsSrgvQueueService.class);
@@ -79,6 +83,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
mydoJobService = SpringUtils.getBean(IMydoJobService.class); mydoJobService = SpringUtils.getBean(IMydoJobService.class);
wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class); wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
roadCacheService = SpringUtils.getBean(RoadCacheService.class); roadCacheService = SpringUtils.getBean(RoadCacheService.class);
deviceSrgvService = SpringUtils.getBean(DeviceSrgvServiceImpl.class);
} }
@Override @Override
@@ -139,10 +144,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) { for (SrgvChargingJob srgvChargingJob : srgvChargingJobs) {
String chargingId = srgvChargingJob.getChargingId(); String chargingId = srgvChargingJob.getChargingId();
DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId); DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(chargingId);
if (ObjUtil.isNotNull(deviceCdz)){ if (ObjUtil.isNotNull(deviceCdz)) {
//下发断电任务 //下发断电任务
int i = PlcCdzRead.WriteToCdz("", null); int i = PlcCdzRead.WriteToCdz("", null);
if (i == 1){ if (i == 1) {
srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid()); srgvChargingJobMapper.insertHistory(srgvChargingJob.getGuid());
srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid()); srgvChargingJobMapper.deleteSrgvChargingJobByGuid(srgvChargingJob.getGuid());
} }
@@ -165,7 +170,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param); List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
if (CollUtil.isNotEmpty(srgvChargingJobs)) { if (CollUtil.isNotEmpty(srgvChargingJobs)) {
SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0); SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0);
if ("1".equals(srgvChargingJob.getChargingStatus())){ if ("1".equals(srgvChargingJob.getChargingStatus())) {
//初始状态 //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
@@ -173,7 +178,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
String chargingId = srgvChargingJob.getChargingId(); String chargingId = srgvChargingJob.getChargingId();
DeviceSrgv srgv = PlcSrgvRead.deviceSrgvMap.get(agvId); DeviceSrgv srgv = PlcSrgvRead.deviceSrgvMap.get(agvId);
DeviceCdz cdz = PlcCdzRead.deviceCdzMap.get(chargingId); 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 //生成四向小车充电队列
String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点 String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
@@ -181,18 +186,18 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)) { if (CollUtil.isEmpty(wcsSrgvQueues)) {
//生成队列 //生成队列
createSrgvChargingQueue(deviceSrgv, chargingSite,"8"); createSrgvChargingQueue(deviceSrgv, chargingSite, "3");
srgvChargingJob.setJobStatus("3"); srgvChargingJob.setJobStatus("3");
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob); srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob);
} }
}else { } else {
//生成四向小车换层队列 //生成四向小车换层队列
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString()); wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString());
String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点 String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)) { if (CollUtil.isEmpty(wcsSrgvQueues)) {
createSrgvChargingQueue(deviceSrgv, chargingSite,"4"); createSrgvChargingQueue(deviceSrgv, chargingSite, "8");
srgvChargingJob.setJobStatus("2"); srgvChargingJob.setJobStatus("2");
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob); 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 wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString()); wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(""); wcsSrgvQueue.setTaskNo("");
@@ -216,9 +221,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setCargoPlaceSite(""); wcsSrgvQueue.setCargoPlaceSite("");
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite); WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
if ("4".equals(type)){ if ("8".equals(type)) {
wcsSrgvQueue.setEndSite("tsj"); wcsSrgvQueue.setEndSite("tsj");
}else if ("8".equals(type)){ } else if ("3".equals(type)) {
wcsSrgvQueue.setEndSite(chargingSite); wcsSrgvQueue.setEndSite(chargingSite);
} }
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString()); wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
@@ -236,7 +241,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//处理队列下发 //处理队列下发
resQueue(deviceSrgv); resQueue(deviceSrgv);
//小车完成队列 // 小车完成队列
completeCarTask(deviceSrgv); completeCarTask(deviceSrgv);
//小车发送任务 //小车发送任务
@@ -245,17 +250,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
} }
/** /**
* 生成入库小车队列 * 生成入库小车队列
*/ */
private void createCarQueue(DeviceSrgv deviceSrgv) { 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()); WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
if (wcsSrgvQueue == null) { if (wcsSrgvQueue == null) {
//找小车当前层作业，生成队列 //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 //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(); MydoJob mydoJob1 = new MydoJob();
@@ -267,7 +269,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1); List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
if (!mydoJobs.isEmpty()) { if (!mydoJobs.isEmpty()) {
//生成了从小车现在位置到提升机接货的队列 //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 { } else {
MydoJob mydoJob = new MydoJob(); MydoJob mydoJob = new MydoJob();
mydoJob.setInOut("2"); mydoJob.setInOut("2");
@@ -278,7 +280,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
if (!mydoJobs1.isEmpty()) { if (!mydoJobs1.isEmpty()) {
//找最外层作业存储过程 //找最外层作业存储过程
HashMap<String, Object> map = new HashMap<>(); HashMap<String, Object> map = new HashMap<>();
map.put("v_layer",deviceSrgv.getCurrFloor()); map.put("v_layer", deviceSrgv.getCurrFloor());
mydoJobService.selectMydoJobOutside(map); mydoJobService.selectMydoJobOutside(map);
String jobId = map.get("v_job_ids").toString(); String jobId = map.get("v_job_ids").toString();
MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId); MydoJob mydoJob2 = mydoJobService.selectMydoJobByJobId(jobId);
@@ -286,45 +288,40 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId()); wcsSrgvMap.setCargoSpaceId(mydoJob2.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
if(!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())){ if (!deviceSrgv.getCurrSite().equals(wcsSrgvMaps.get(0).getSiteId())) {
createCarQueue(mydoJob2, deviceSrgv, "4","0"); createCarQueue(mydoJob2, deviceSrgv, "4", "0");
}else{ } else {
createCarQueue(mydoJob2, deviceSrgv, "4","1"); createCarQueue(mydoJob2, deviceSrgv, "4", "1");
} }
} else { } else {
//别的层的出库作业和入库作业 //别的层的出库作业和入库作业
MydoJob job = null;
MydoJob job=null;
MydoJob mydoJob3 = new MydoJob(); MydoJob mydoJob3 = new MydoJob();
mydoJob3.setStatus("3"); mydoJob3.setStatus("3");
mydoJob3.setInOut("1"); mydoJob3.setInOut("1");
//todo 输送机阶段 //todo 输送机阶段
mydoJob3.setExecutionPhase("1"); mydoJob3.setExecutionPhase("1");
List<MydoJob> mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3); List<MydoJob> mydoJobs4 = mydoJobService.selectMydoJobList(mydoJob3);
if(!mydoJobs4.isEmpty()){ if (!mydoJobs4.isEmpty()) {
job=mydoJobs4.get(0); job = mydoJobs4.get(0);
}else{ } else {
MydoJob mydoJob2 = new MydoJob(); MydoJob mydoJob2 = new MydoJob();
mydoJob2.setInOut("2"); mydoJob2.setInOut("2");
mydoJob2.setStatus("1"); mydoJob2.setStatus("1");
List<MydoJob> mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2); List<MydoJob> mydoJobs3 = mydoJobService.selectMydoJobList(mydoJob2);
if(!mydoJobs3.isEmpty()){ if (!mydoJobs3.isEmpty()) {
job=mydoJobs3.get(0); 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 //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 //生成换层任务
DeviceSrgv deviceSrgv1 = new DeviceSrgv(); DeviceSrgv deviceSrgv1 = new DeviceSrgv();
deviceSrgv1.setCurrFloor(Convert.toInt(job.getTheFloor())); deviceSrgv1.setCurrFloor(Convert.toInt(job.getTheFloor()));
List<DeviceSrgv> srgvs = deviceSrgvService.selectDeviceSrgvList(deviceSrgv1); List<DeviceSrgv> srgvs = deviceSrgvService.selectDeviceSrgvList(deviceSrgv1);
//这个作业的目标层没有小车 //这个作业的目标层没有小车
if (srgvs.isEmpty()) { if (srgvs.isEmpty()) {
WcsSrgvQueue wcsSrgvQueue1 = new WcsSrgvQueue(); WcsSrgvQueue wcsSrgvQueue1 = new WcsSrgvQueue();
wcsSrgvQueue1.setDefault07(job.getTheFloor()); wcsSrgvQueue1.setDefault07(job.getTheFloor());
// wcsSrgvQueue1.setTaskType("3"); // wcsSrgvQueue1.setTaskType("3");
@@ -334,27 +331,29 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
createCarQueue(job, deviceSrgv, "8", "0"); 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())); MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo()));
if (mydoJob != null){ if (mydoJob != null) {
if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getEndSite()) && "1".equals(wcsSrgvQueue.getTaskType())) { 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 // todo 通知wms入库完成 完成队列 完成作业
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
mydoJobService.insertHistory(mydoJob.getJobId()); mydoJobService.insertHistory(mydoJob.getJobId());
mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId()); mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
} else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "2".equals(wcsSrgvQueue.getTaskType())) { } else if (deviceSrgv.getCurrSite().equals(wcsSrgvQueue.getDefault03()) && "2".equals(wcsSrgvQueue.getTaskType())) {
//完成队列 更新作业阶段 //完成队列 更新作业阶段
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
@@ -362,24 +361,24 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//提升机修改阶段 //提升机修改阶段
// mydoJob.setExecutionPhase(""); // mydoJob.setExecutionPhase("");
// mydoJobService.updateMydoJob(mydoJob); // 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 //根据任务类型 ，生成队列
if (Convert.toInt(mydoJob.getInOrOut()) < 20) { if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
createCarQueue(mydoJob, deviceSrgv, "1","0"); createCarQueue(mydoJob, deviceSrgv, "1", "0");
} else { } else {
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); 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.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
} }
}else { } else {
//查询充电任务 //查询充电任务
SrgvChargingJob srgvChargingJob = new SrgvChargingJob(); SrgvChargingJob srgvChargingJob = new SrgvChargingJob();
srgvChargingJob.setAgvId(String.valueOf(wcsSrgvQueue.getAgvId())); srgvChargingJob.setAgvId(String.valueOf(wcsSrgvQueue.getAgvId()));
@@ -387,9 +386,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
srgvChargingJob.setJobStatus("2"); srgvChargingJob.setJobStatus("2");
srgvChargingJob.setJobType("1"); srgvChargingJob.setJobType("1");
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob); List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob);
if (!srgvChargingJobs.isEmpty()){ if (!srgvChargingJobs.isEmpty()) {
SrgvChargingJob srgvChargingJob1 = srgvChargingJobs.get(0); 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 //查询换层任务
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
@@ -398,53 +397,49 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob1); 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 wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString()); wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo()); wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType(taskType); wcsSrgvQueue.setTaskType(taskType);
wcsSrgvQueue.setPriority(Long.parseLong("2")); wcsSrgvQueue.setPriority(Long.parseLong("2"));
// wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued); wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus("1"); wcsSrgvQueue.setExecutionStatus("1");
// wcsSrgvQueue.setCargoPlaceSite("tsj");
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap(); 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.setTheRow(4);
wcsSrgvMap1.setTheColumn(5); wcsSrgvMap1.setTheColumn(5);
wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor())); wcsSrgvMap1.setTheLayer(Convert.toInt(mydoJob1.getTheFloor()));
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
//点到点任务
if(Integer.parseInt(mydoJob1.getInOrOut())<20 && "4".equals(taskType)){ if (Integer.parseInt(mydoJob1.getInOrOut()) < 20 && "4".equals(taskType)) {
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite("tsj"); 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()); 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"); wcsSrgvQueue.setStartSite("tsj");
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId()); wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId()); 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()); 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()); wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap(); WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId()); wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
@@ -452,20 +447,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId()); wcsSrgvQueue.setEndSite(wcsSrgvMaps.get(0).getSiteId());
//每一层的停靠点 //每一层的停靠点
wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); 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.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite("tsj"); wcsSrgvQueue.setEndSite("tsj");
//每一层的停靠点 //每一层的停靠点
wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
} } else if ("8".equals(taskType)) {
else if("8".equals(taskType)){
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite()); wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite("tsj"); wcsSrgvQueue.setEndSite("tsj");
wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId()); wcsSrgvQueue.setDefault03(wcsSrgvMaps1.get(0).getSiteId());
} }
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString()); wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date())); wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString()); wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
@@ -487,9 +478,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
} }
for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) { for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
String agvId = wcsSrgvQueue.getAgvId(); String agvId = wcsSrgvQueue.getAgvId();
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) { if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) //agvID和小车ID一致
String startSite = wcsSrgvQueue.getStartSite(); && deviceSrgv.getWorkMode() == 5//工作模式联机自动
String endSite = wcsSrgvQueue.getEndSite(); && 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(); String currSite = deviceSrgv.getCurrSite();
//判断是否可以下发任务 //判断是否可以下发任务
if ("0".equals(wcsSrgvQueue.getIssued()) && deviceSrgv.getStatus() == 1) { 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 //判断是否能规划出最短路径
if (shortestPath == null || shortestPath.isEmpty()) { if (shortestPath == null || shortestPath.isEmpty()) {
//判断是否是1层 空车取货 或者 满车放货 //判断是否是1层 空车取货 或者 满车放货
if (floor==1){ if (floor == 1) {
if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())){ if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
//1层满车放货 //1层满车放货
//修改终点到出库缓存点 //修改终点到出库缓存点
WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap(); WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
@@ -537,12 +535,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite()); currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
} }
cacheSite.removeAll(currentSRgvSite); cacheSite.removeAll(currentSRgvSite);
if (CollUtil.isNotEmpty(cacheSite)){ if (CollUtil.isNotEmpty(cacheSite)) {
for (String cache : cacheSite) { for (String cache : cacheSite) {
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setEndSite(cache); wcsSrgvQueueParam.setEndSite(cache);
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)){ if (CollUtil.isEmpty(wcsSrgvQueues)) {
wcsSrgvQueue.setEndSite(cacheSite.get(0)); wcsSrgvQueue.setEndSite(cacheSite.get(0));
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
break; 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 //1层空车取货
//修改终点到避让点 //修改终点到避让点
WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap(); WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
@@ -563,12 +561,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite()); currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
} }
cacheSite.removeAll(currentSRgvSite); cacheSite.removeAll(currentSRgvSite);
if (CollUtil.isNotEmpty(cacheSite)){ if (CollUtil.isNotEmpty(cacheSite)) {
for (String cache : cacheSite) { for (String cache : cacheSite) {
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue(); WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setEndSite(cache); wcsSrgvQueueParam.setEndSite(cache);
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam); List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)){ if (CollUtil.isEmpty(wcsSrgvQueues)) {
wcsSrgvQueue.setEndSite(cacheSite.get(0)); wcsSrgvQueue.setEndSite(cacheSite.get(0));
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
break; 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<SendData2> sendDataList = new ArrayList<>(); List<SendData2> sendDataList = new ArrayList<>();
if (!trun.isEmpty()) { if (!trun.isEmpty()) {
SendData2 path = new SendData2(); SendData2 path = new SendData2();
path.setAddress("4000");//地址 path.setAddress("4004");//地址
path.setData(startSite + "," + endSite + "," + turnBuilder); path.setData(startSite + "," + endSite + "," + turnBuilder);
path.setType(2); path.setType(2);
sendDataList.add(path); sendDataList.add(path);
} else { } else {
SendData2 path = new SendData2(); SendData2 path = new SendData2();
path.setAddress("4000");//地址 path.setAddress("4004");//地址
path.setData(startSite + "," + endSite); path.setData(startSite + "," + endSite);
path.setType(2); path.setType(2);
sendDataList.add(path); sendDataList.add(path);
@@ -638,29 +665,44 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//任务号、原、目标数据转换 //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(); SendData2 site = new SendData2();
site.setAddress("4400"); site.setAddress("4000");
site.setData(siteId); site.setData(taskNo);
site.setType(2); site.setType(2);
sendDataList.add(site); sendDataList.add(site);
//任务类型转换 //任务类型转换
SendData2 taskType = new SendData2(); SendData2 taskType = new SendData2();
taskType.setAddress("2200"); taskType.setAddress("4002");
taskType.setData(wcsSrgvQueue.getTaskType()); taskType.setData(wcsSrgvQueue.getTaskType());
taskType.setType(1); taskType.setType(1);
sendDataList.add(taskType); 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 //下发标志转换
SendData2 flag = new SendData2(); SendData2 flag = new SendData2();
flag.setAddress("2202"); flag.setAddress("4021");
flag.setData("1"); flag.setData("1");
flag.setType(1); flag.setType(1);
sendDataList.add(flag); sendDataList.add(flag);
//下发数据 //下发数据
boolean b = true;// sendCarTask(sendDataList, deviceSrgv); boolean b = sendCarTask(sendDataList, deviceSrgv);
if (b) { if (b) {
wcsSrgvQueue.setPathInfo(pathBuilder.toString()); wcsSrgvQueue.setPathInfo(pathBuilder.toString());
wcsSrgvQueue.setTrunPath(turnBuilder.toString()); wcsSrgvQueue.setTrunPath(turnBuilder.toString());
@@ -679,13 +721,21 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
String taskType = wcsSrgvQueue.getDefault02(); String taskType = wcsSrgvQueue.getDefault02();
boolean sendFlag = false; boolean sendFlag = false;
switch (taskType) { 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 "1":
case "2": 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); sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
break; break;
} }
@@ -760,7 +810,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
*/ */
private void completeCarTask(DeviceSrgv deviceSrgv) { private void completeCarTask(DeviceSrgv deviceSrgv) {
//联机自动 //联机自动
if (deviceSrgv.getWorkMode() == 4) { if (deviceSrgv.getWorkMode() == 5) {
if (deviceSrgv.getStatus() == 1) { if (deviceSrgv.getStatus() == 1) {
WcsSrgvQueue param = new WcsSrgvQueue(); WcsSrgvQueue param = new WcsSrgvQueue();
param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId())); param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -791,8 +841,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
* @return * @return
*/ */
private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) { private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
//当前在终点 //当前在终点
if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) { if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
String taskType = wcsSrgvQueue.getTaskType(); String taskType = wcsSrgvQueue.getTaskType();
@@ -802,16 +850,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvMap.setRemark("outCache"); wcsSrgvMap.setRemark("outCache");
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap); List<WcsSrgvMap> 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 //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"); wcsSrgvQueue.setExecutionStatus("4");
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo()); wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSrgvQueue.setIssued("0"); wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("1"); wcsSrgvQueue.setExecutionStatus("1");
wcsSrgvQueue.setStartSite(currSite); wcsSrgvQueue.setStartSite(currSite);
if("1".equals(taskType)){ if ("1".equals(taskType)) {
wcsSrgvQueue.setEndSite(cargoPickSite); wcsSrgvQueue.setEndSite(cargoPickSite);
}else if("2".equals(taskType)){ } else if ("2".equals(taskType)) {
wcsSrgvQueue.setEndSite(cargoPlaceSite); wcsSrgvQueue.setEndSite(cargoPlaceSite);
} }
wcsSrgvQueue.setTheFloor("1"); wcsSrgvQueue.setTheFloor("1");
@@ -820,8 +868,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
return; 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 //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)) { 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 //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 { } else {
//充电之类的，不知道用不用 //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)) { if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
String startSite = wcsSrgvQueue.getStartSite(); String startSite = wcsSrgvQueue.getDefault03();
if (!startSite.equals(currSite)) { if (!startSite.equals(currSite)) {
wcsSrgvQueue.setIssued("1"); wcsSrgvQueue.setIssued("1");
wcsSrgvQueue.setExecutionStatus("3");
wcsSrgvQueue.setStartDate(DateUtil.now()); wcsSrgvQueue.setStartDate(DateUtil.now());
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); 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;
}
} }

130
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
View File

@@ -33,19 +33,6 @@ public class SsjThread implements Runnable {
public void init() { public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("TD1001");
ssjCodes.add("TD1008");
ssjCodeList.put("out", ssjCodes);
ArrayList<String> ssjCodes1 = new ArrayList<>();
ssjCodes1.add("GS1002");
ssjCodes1.add("GS1007");
ssjCodeList.put("in", ssjCodes1);
ArrayList<String> ssjCodes2 = new ArrayList<>();
ssjCodes2.add("L1004");
ssjCodes2.add("L1005");
ssjCodeList.put("road", ssjCodes2);
mydoJobService = SpringUtils.getBean(IMydoJobService.class); mydoJobService = SpringUtils.getBean(IMydoJobService.class);
jobCallBackService = SpringUtils.getBean(IJobCallBackService.class); jobCallBackService = SpringUtils.getBean(IJobCallBackService.class);
apiService = SpringUtils.getBean(IApiService.class); apiService = SpringUtils.getBean(IApiService.class);
@@ -55,50 +42,20 @@ public class SsjThread implements Runnable {
public void run() { public void run() {
init(); init();
while (isRun) { while (isRun) {
for (String type : ssjCodeList.keySet()) {
switch (type) {
case "out":
for (String ssjCode : ssjCodeList.get("out")) {
try { try {
if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) { DeviceSsj deviceSsj = PlcSsjRead.deviceSsjMap.get("L1001");
inDispatch(PlcSsjRead.deviceSsjMap.get(ssjCode)); if (deviceSsj != null) {
} else { //入库请求
log.error("设备不存在 ssjCode{}", ssjCode); if (deviceSsj.getRkqq() == 1) {
inDispatch1(deviceSsj);
}
if (deviceSsj.getDw() == 1) {
inDispatch(deviceSsj);
}
} }
} catch (RuntimeException e) { } catch (RuntimeException e) {
log.error(e.getMessage(), 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);
}
}
}
}
} }
} }
@@ -106,7 +63,6 @@ public class SsjThread implements Runnable {
void inDispatch(DeviceSsj deviceSsj) { void inDispatch(DeviceSsj deviceSsj) {
//出库到位 //出库到位
if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) { if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 0) {
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo())); MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(deviceSsj.getTaskNo()));
if (mydoJob != null) { if (mydoJob != null) {
log.info("设备：{} 位置：{} 任务号：{} 出库到位", "输送线", deviceSsj.getDeviceCode(), mydoJob.getTaskNo()); 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) { 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 // 查是否有正执行的出库作业，有退回
MydoJob mydoJob1 = new MydoJob(); MydoJob queryJob = new MydoJob();
mydoJob1.setStatus("3"); queryJob.setStatus("3");
mydoJob1.setInOut("2"); queryJob.setInOrOut("2");
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1); List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(queryJob);
if (mydoJobs.size() > 0) { if (!mydoJobs.isEmpty()) {
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2,1); int i = PlcSsjRead.writeToSsj("0", 11, 1);
if (i == 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<String, Object> map = new HashMap<>(); HashMap<String, Object> map = new HashMap<>();
map.put("trayCode", deviceSsj.getTrayCode()); map.put("trayCode", deviceSsj.getTrayCode());
//拉取 //拉取
@@ -146,31 +127,30 @@ public class SsjThread implements Runnable {
mydoJob.setStatus("1"); mydoJob.setStatus("1");
mydoJob.setExecutionPhase("1"); mydoJob.setExecutionPhase("1");
mydoJob.setCreateTime(new Date()); mydoJob.setCreateTime(new Date());
mydoJob.setTheFloor(mydoJob.getRoadwayId());
mydoJobService.insertMydoJob(mydoJob); 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) { if (i == 1) {
mydoJob.setStatus("3"); mydoJob.setStatus("3");
mydoJobService.updateMydoJob(mydoJob); 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 { } else {
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2,1); int i = writeToSsj("0", 11, 1);
if (i == 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()); MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
if(mydoJob!=null){ if (mydoJob != null) {
mydoJob.setExecutionPhase("2"); mydoJob.setExecutionPhase("2");
mydoJobService.updateMydoJob(mydoJob); mydoJobService.updateMydoJob(mydoJob);
} }

169
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
View File

@@ -7,12 +7,11 @@ import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjUtil; import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil; import cn.hutool.core.util.StrUtil;
import com.ruoyi.bas.port.domain.WcsPort;
import com.ruoyi.bas.port.service.IWcsPortService; import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.common.domain.SendData;
import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.srgv.domain.DeviceSrgv; import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.srgv.service.IDeviceSrgvService; 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.ssj.domain.DeviceSsj;
import com.ruoyi.device.tsj.domain.DeviceTsj; import com.ruoyi.device.tsj.domain.DeviceTsj;
import com.ruoyi.job.domain.MydoJob; 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.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead; import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import java.util.Date; import java.util.Date;
import java.util.HashMap; import java.util.HashMap;
import java.util.List; import java.util.List;
import java.util.Objects;
@Slf4j @Slf4j
public class TsjThread implements Runnable { public class TsjThread implements Runnable {
@@ -52,22 +49,21 @@ public class TsjThread implements Runnable {
tsjDeviceExecutionQueueFinishService = SpringUtils.getBean(ITsjDeviceExecutionQueueFinishService.class); tsjDeviceExecutionQueueFinishService = SpringUtils.getBean(ITsjDeviceExecutionQueueFinishService.class);
wcsPortService = SpringUtils.getBean(IWcsPortService.class); wcsPortService = SpringUtils.getBean(IWcsPortService.class);
wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class); wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
mydoJobService =SpringUtils.getBean(IMydoJobService.class);
deviceSrgvService=SpringUtils.getBean(DeviceSrgvServiceImpl.class);
} }
@Override @Override
public void run() { public void run() {
init(); init();
while (isRun) { while (isRun) {
try {
for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) { for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) {
DeviceTsj tsj = PlcTsjRead.deviceTsjMap.get(tsjCode); DeviceTsj tsj = PlcTsjRead.deviceTsjMap.get(tsjCode);
tsjTask(tsj); tsjTask(tsj);
} }
} catch (RuntimeException e) {
try { log.error(e.getMessage(), e);
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
} }
} }
@@ -75,40 +71,23 @@ public class TsjThread implements Runnable {
private void tsjTask(DeviceTsj tsj) { private void tsjTask(DeviceTsj tsj) {
int sbzt = tsj.getSbzt();//设备状态 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 int jdbz = tsj.getJdbz();//执行阶段
Long rwh = tsj.getRwh();//任务号 Long rwh = tsj.getRwh();//任务号
int yxxf = tsj.getYxxf();//允许下发 int yxxf = tsj.getYxxf();//允许下发
if (czfs == 1 && sbzt == 98 && jdbz == 11 && rwh > 999) {
/*
* 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) {
//任务完成 //任务完成
finishTask(rwh); finishTask(tsj);
} }
/* /*
* 3、下发 * 3、下发
* *
* */ * */
if (czfs == 2 && yxxf == 1) { if (czfs == 1 && yxxf == 1) {
sendTsj(); sendTsj();
} }
createTsjQueue(tsj); createTsjQueue(tsj);
} }
@@ -118,9 +97,8 @@ public class TsjThread implements Runnable {
private void createTsjQueue(DeviceTsj tsj) { private void createTsjQueue(DeviceTsj tsj) {
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) { for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv); DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
//车进提升机 换层 //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 //请求进入输送机
WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue(); WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId())); sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -129,16 +107,20 @@ public class TsjThread implements Runnable {
if (CollUtil.isNotEmpty(wcsSrgvQueues)) { if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
String rwlx = ""; String rwlx = "";
if ("2".equals(wcsSrgvQueue.getTaskType())){ if ("2".equals(wcsSrgvQueue.getTaskType())) {
//出库 //出库
rwlx = "1";
}
if ( "3".equals(wcsSrgvQueue.getTaskType()) || "8".equals(wcsSrgvQueue.getTaskType())){
//
rwlx = "2"; 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())); 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 strFloor = wcsSrgvQueue.getTheFloor();
String tarFloor = wcsSrgvQueue.getDefault07(); String tarFloor = wcsSrgvQueue.getDefault07();
if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) { if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
@@ -165,20 +147,36 @@ public class TsjThread implements Runnable {
} }
} }
} }
//输送机配送货物到提升机 //输送机配送货物到提升机
for (String ssjCode : inSsjList.keySet()) { DeviceSsj ssj = PlcSsjRead.deviceSsjMap.get("L1001");
DeviceSsj ssj = PlcSsjRead.deviceSsjMap.get(ssjCode);
if (ObjUtil.isNotNull(ssj)) { if (ObjUtil.isNotNull(ssj)) {
if (ssj.getRkqq() == 1 && ssj.getDw() == 1 && ssj.getTaskNo() > 0) { if (ssj.getRkdw() == 1 && ssj.getTaskNo() > 0) {
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(ssj.getTaskNo())); 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 //输送机入库
DeviceSrgv srgvParam = new DeviceSrgv(); DeviceSrgv srgvParam = new DeviceSrgv();
srgvParam.setCurrFloor(Convert.toInt(mydoJob.getTheFloor())); 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<DeviceSrgv> deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(srgvParam); List<DeviceSrgv> deviceSrgvs = deviceSrgvService.selectDeviceSrgvList(srgvParam);
if (CollUtil.isNotEmpty(deviceSrgvs)){ TsjDeviceExecutionQueue queryQueue = new TsjDeviceExecutionQueue();
queryQueue.setTaskNo(Convert.toLong(ssj.getTaskNo()));
final List<TsjDeviceExecutionQueue> 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<MydoJob> 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(); String theFloor = mydoJob.getTheFloor();
//生成提升机队列 //生成提升机队列
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue(); TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
@@ -194,44 +192,20 @@ public class TsjThread implements Runnable {
tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date())); tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
tsjDeviceExecutionQueue.setSpare1("ssj"); tsjDeviceExecutionQueue.setSpare1("ssj");
tsjDeviceExecutionQueue.setTaskType("1"); tsjDeviceExecutionQueue.setTaskType("1");
tsjDeviceExecutionQueue.setRwlx("3"); tsjDeviceExecutionQueue.setRwlx("1");
tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue); tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
} }
} }
} }
} }
}
private void sendTsj() { private void sendTsj() {
List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(new TsjDeviceExecutionQueue()); List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(new TsjDeviceExecutionQueue());
if (CollUtil.isNotEmpty(tsjDeviceExecutionQueues)) { if (CollUtil.isNotEmpty(tsjDeviceExecutionQueues)) {
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueues.get(0); TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueues.get(0);
if (tsjDeviceExecutionQueue.getSendFlag()==null) {
//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 writeToTsj(tsjDeviceExecutionQueue);
WcsPort param = new WcsPort();
param.setPortType("1");
param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
param.setStatus("1");
param.setSpare2("1");
List<WcsPort> 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;
} }
//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<WcsPort> 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 * @param tsjDeviceExecutionQueue
*/ */
private void writeToTsj(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) { private void writeToTsj(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) {
SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo())); String taskNo= String.valueOf(tsjDeviceExecutionQueue.getTaskNo());
SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow())); int rwlx = Integer.parseInt(tsjDeviceExecutionQueue.getRwlx());
SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer())); int src_of_goods= Integer.parseInt(tsjDeviceExecutionQueue.getSrcLayer());
SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow())); int dest_of_goods= Integer.parseInt(tsjDeviceExecutionQueue.getTarLayer());
SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer())); final int i = PlcTsjRead.writeToTsj(taskNo, rwlx, src_of_goods, dest_of_goods, 1);
SendData sendType = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSendType())); if (i > 0) {
SendData completedSendData = new SendData(Tools.INT, 1); TsjDeviceExecutionQueue queryQueue = new TsjDeviceExecutionQueue();
int jym = Tools.getJYM(taskNoSendData.getNum2(), srcRow.getNum2(), srcLayer.getNum2(), tarRow.getNum2(), tarLayer.getNum2(), sendType.getNum2(), completedSendData.getNum2()); queryQueue.setTaskNo(Convert.toLong(taskNo));
SendData jymSendData = new SendData(Tools.INT, jym); final List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(queryQueue);
byte[] bytes = Tools.sendData(taskNoSendData, srcRow, srcLayer, tarRow, tarLayer, sendType, completedSendData, jymSendData); if (!tsjDeviceExecutionQueues.isEmpty()){
DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId())); TsjDeviceExecutionQueue tsjDeviceExecutionQueue1=tsjDeviceExecutionQueues.get(0);
if (ObjUtil.isNotNull(deviceTsj)) { tsjDeviceExecutionQueue1.setSendFlag("1");
PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes); 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 //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)) { if (ObjUtil.isNotNull(tsjDeviceExecutionQueue)) {
//完成提升机任务 插入历史表 //完成提升机任务 插入历史表
String senFlag= tsjDeviceExecutionQueue.getSendFlag()==null?"0":"1";
if (tsjDeviceExecutionQueue.getTarLayer().equals(String.valueOf(tsj.getDqcs()))&&senFlag.equals("1")){
TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish(); TsjDeviceExecutionQueueFinish tsjDeviceExecutionQueueFinish = new TsjDeviceExecutionQueueFinish();
BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish); BeanUtil.copyProperties(tsjDeviceExecutionQueue, tsjDeviceExecutionQueueFinish);
tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date())); tsjDeviceExecutionQueueFinish.setFinishDate(DateUtil.formatDateTime(DateUtil.date()));
tsjDeviceExecutionQueueFinishService.insertTsjDeviceExecutionQueueFinish(tsjDeviceExecutionQueueFinish); tsjDeviceExecutionQueueFinishService.insertTsjDeviceExecutionQueueFinish(tsjDeviceExecutionQueueFinish);
tsjDeviceExecutionQueueService.deleteTsjDeviceExecutionQueueByGuid(tsjDeviceExecutionQueue.getGuid()); 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"); 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");
}
} }
} }
/** /**

12
ruoyi-admin/src/main/resources/mapper/device/DeviceSsjMapper.xml
View File

@@ -22,10 +22,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<result property="exception" column="exception" /> <result property="exception" column="exception" />
<result property="traySize" column="tray_size" /> <result property="traySize" column="tray_size" />
<result property="allowPut" column="allow_put" /> <result property="allowPut" column="allow_put" />
<result property="czms" column="czms" />
<result property="rkdw" column="rkdw" />
</resultMap> </resultMap>
<sql id="selectDeviceSsjVo"> <sql id="selectDeviceSsjVo">
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
</sql> </sql>
<select id="selectDeviceSsjList" parameterType="DeviceSsj" resultMap="DeviceSsjResult"> <select id="selectDeviceSsjList" parameterType="DeviceSsj" resultMap="DeviceSsjResult">
@@ -46,6 +48,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="exception != null and exception != ''"> and exception = #{exception}</if> <if test="exception != null and exception != ''"> and exception = #{exception}</if>
<if test="traySize != null and traySize != ''"> and tray_size = #{traySize}</if> <if test="traySize != null and traySize != ''"> and tray_size = #{traySize}</if>
<if test="allowPut != null and allowPut != ''"> and allow_put = #{allowPut}</if> <if test="allowPut != null and allowPut != ''"> and allow_put = #{allowPut}</if>
<if test="czms != null and czms != ''"> and czms = #{czms}</if>
<if test="rkdw != null and rkdw != ''"> and rkdw = #{rkdw}</if>
</where> </where>
</select> </select>
@@ -75,6 +79,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="dw != null">dw,</if> <if test="dw != null">dw,</if>
<if test="trayCode != null">tray_code,</if> <if test="trayCode != null">tray_code,</if>
<if test="taskNo != null">task_no,</if> <if test="taskNo != null">task_no,</if>
<if test="czms != null">czms,</if>
<if test="rkdw != null">rkdw,</if>
</trim> </trim>
<trim prefix="values (" suffix=")" suffixOverrides=","> <trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="deviceCode != null">#{deviceCode },</if> <if test="deviceCode != null">#{deviceCode },</if>
@@ -90,6 +96,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="dw != null">#{dw},</if> <if test="dw != null">#{dw},</if>
<if test="trayCode != null">#{trayCode},</if> <if test="trayCode != null">#{trayCode},</if>
<if test="taskNo != null">#{taskNo},</if> <if test="taskNo != null">#{taskNo},</if>
<if test="czms != null">#{czms},</if>
<if test="rkdw != null">#{rkdw},</if>
</trim> </trim>
</insert> </insert>
@@ -104,6 +112,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="exception != null">exception = #{exception},</if> <if test="exception != null">exception = #{exception},</if>
<if test="traySize != null">tray_size = #{traySize},</if> <if test="traySize != null">tray_size = #{traySize},</if>
<if test="allowPut != null">allow_put = #{allowPut},</if> <if test="allowPut != null">allow_put = #{allowPut},</if>
<if test="czms != null">czms = #{czms},</if>
<if test="rkdw != null">rkdw = #{rkdw},</if>
</trim> </trim>
where id = #{id} where id = #{id}
</update> </update>