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现场调度修改

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This commit is contained in:
liuhanqing
2026-03-02 08:40:01 +08:00
parent 9c6c32b7ed
commit 03e30d1db0
23 changed files with 668 additions and 1114 deletions
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2
ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/ReceiveJob.java
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@@ -10,6 +10,7 @@ import lombok.NoArgsConstructor;
public class ReceiveJob {
private String taskNo;
private String cargoSpaceId;
private String targetCargoSpaceId;
private String exitId;
private String trayCode;
private String entranceId;
@@ -17,5 +18,6 @@ public class ReceiveJob {
private String jobId;
private String roadwayId;
private String classId;
private Long priority;
}

2
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -353,6 +353,7 @@ public class ApiServiceImpl implements IApiService {
mydoJob.setJobId(receiveOutJob.getJobId());
mydoJob.setTaskNo(receiveOutJob.getTaskNo());
mydoJob.setCargoSpaceId(receiveOutJob.getCargoSpaceId());
mydoJob.setTargetCargoSpaceId(receiveOutJob.getTargetCargoSpaceId());
mydoJob.setExitId(receiveOutJob.getExitId());
mydoJob.setInOrOut(receiveOutJob.getInOrOut());
mydoJob.setStatus("1");
@@ -361,6 +362,7 @@ public class ApiServiceImpl implements IApiService {
mydoJob.setCreateTime(DateUtils.getNowDate());
mydoJob.setExecutionPhase("0");
mydoJob.setTheFloor(receiveOutJob.getClassId());
mydoJob.setPriority(receiveOutJob.getPriority());
int i = mydoJobService.insertMydoJob(mydoJob);
if (i > 0) {
return AjaxResult.success();

8
ruoyi-admin/src/main/java/com/ruoyi/job/mapper/MydoJobMapper.java
View File

@@ -81,4 +81,12 @@ public interface MydoJobMapper
List<MydoJob> selectMydoJobFinishList(MydoJob mydoJob);
MydoJob selectRunningMydoJobByExitList(@Param("exitList") List<String> exitList);
List<MydoJob> selectMydoJobOut();
MydoJob selectMydoJobByTrayCode(String trayCode);
Integer selectExit(String ssj);
Integer selectMydoJobCount();
}

8
ruoyi-admin/src/main/java/com/ruoyi/job/service/IMydoJobService.java
View File

@@ -80,4 +80,12 @@ public interface IMydoJobService
MydoJob selectRunningMydoJobByExitList(List<String> strings);
AjaxResult manualCallback(String jobId);
List<MydoJob> selectMydoJobOut();
MydoJob selectMydoJobByTrayCode(String trayCode);
Integer selectExit(String ssj);
Integer selectMydoJobCount();
}

20
ruoyi-admin/src/main/java/com/ruoyi/job/service/impl/MydoJobServiceImpl.java
View File

@@ -173,4 +173,24 @@ public class MydoJobServiceImpl implements IMydoJobService
}
return AjaxResult.error("手动回调失败");
}
@Override
public List<MydoJob> selectMydoJobOut() {
return mydoJobMapper.selectMydoJobOut();
}
@Override
public MydoJob selectMydoJobByTrayCode(String trayCode) {
return mydoJobMapper.selectMydoJobByTrayCode(trayCode);
}
@Override
public Integer selectExit(String ssj) {
return mydoJobMapper.selectExit(ssj);
}
@Override
public Integer selectMydoJobCount() {
return mydoJobMapper.selectMydoJobCount();
}
}

2
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java
View File

@@ -73,4 +73,6 @@ public interface WcsSrgvQueueMapper
public int deleteWcsSrgvQueueByGuids(String[] guids);
String selectMinCountJob(@Param("list") List<String> outModelSSJ);
Integer selectTsj();
}

2
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
View File

@@ -79,4 +79,6 @@ public interface IWcsSrgvQueueService
public WcsSrgvQueue insertHistory(String taskNo);
String selectMinCountJob(List<String> outModelSSJ);
Integer selectTsj();
}

6
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java
View File

@@ -120,6 +120,12 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
return wcsSrgvQueueMapper.selectMinCountJob(outModelSSJ) ;
}
@Override
public Integer selectTsj() {
return wcsSrgvQueueMapper.selectTsj();
}
@Override
public WcsSrgvQueue insertHistory(String taskNo) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo);

2
ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/mapper/TsjDeviceExecutionQueueMapper.java
View File

@@ -65,4 +65,6 @@ public interface TsjDeviceExecutionQueueMapper
* @return 提升机执行队列
*/
TsjDeviceExecutionQueue selectTsjDeviceExecutionQueueByRwh(Long taskNo);
Integer selectCount();
}

2
ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/service/ITsjDeviceExecutionQueueService.java
View File

@@ -64,4 +64,6 @@ public interface ITsjDeviceExecutionQueueService
* @return
*/
TsjDeviceExecutionQueue selectTsjDeviceExecutionQueueByRwh(Long taskNo);
Integer selectCount();
}

5
ruoyi-admin/src/main/java/com/ruoyi/queue/tsj/service/impl/TsjDeviceExecutionQueueServiceImpl.java
View File

@@ -104,5 +104,10 @@ public class TsjDeviceExecutionQueueServiceImpl implements ITsjDeviceExecutionQu
return tsjDeviceExecutionQueueMapper.selectTsjDeviceExecutionQueueByRwh(taskNo);
}
@Override
public Integer selectCount() {
return tsjDeviceExecutionQueueMapper.selectCount();
}
}

2
ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java
View File

@@ -177,7 +177,7 @@ public class ScheduleThread {
*/
public void startAllThread() {
plcSsjReadCustomThread.getThread().start();
plcSrgvReadCustomThread1.getThread().start();
//plcSrgvReadCustomThread1.getThread().start();
plcSrgvReadCustomThread2.getThread().start();
plcSrgvReadCustomThread3.getThread().start();
plcTsjReadCustomThread.getThread().start();

80
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/cdz/CdzThread.java
View File

@@ -13,6 +13,8 @@ import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.device.srgv.service.IDeviceSrgvService;
import com.ruoyi.job.charg.domain.SrgvChargingJob;
import com.ruoyi.job.charg.service.ISrgvChargingJobService;
import com.ruoyi.job.mapper.MydoJobMapper;
import com.ruoyi.job.service.IMydoJobService;
import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
import com.ruoyi.schedule.plcRead.cdz.PlcCdzRead;
@@ -33,18 +35,20 @@ public class CdzThread implements Runnable {
public boolean isRun = true;
private final Integer LITTLE_BETTERY = 30;
private final Integer MIDDLE_BETTERY = 70;
private final Integer MIDDLE_BETTERY = 60;
private final Integer MAX_BETTERY = 90;
private ISrgvChargingJobService chargingJobService;
private IDeviceCdzService deviceCdzService;
private IDeviceSrgvService deviceSrgvService;
private IWcsSrgvQueueService wcsSrgvQueueService;
public IMydoJobService mydoJobService;
public void init() {
chargingJobService = SpringUtils.getBean(ISrgvChargingJobService.class);
deviceCdzService = SpringUtils.getBean(IDeviceCdzService.class);
deviceSrgvService = SpringUtils.getBean(IDeviceSrgvService.class);
wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
mydoJobService = SpringUtils.getBean(IMydoJobService.class);
}
@Override
@@ -71,7 +75,7 @@ public class CdzThread implements Runnable {
List<DeviceSrgv> middleBatterySRgv = new ArrayList<>();
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3) {
if (deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() != 3 && deviceSrgv.getChargeFlag() != 2) {
if (deviceSrgv.getBattery() <= LITTLE_BETTERY) {
littleBatterySRgv.add(deviceSrgv);
} else if (deviceSrgv.getBattery() <= MIDDLE_BETTERY) {
@@ -128,38 +132,50 @@ public class CdzThread implements Runnable {
}
//生成断电任务 有任务且电量大于50 todo 代码无效
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setIssued("0");
List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
boolean existsKxSRgv = false;
//判断有没有空闲小车
for (DeviceSrgv x : PlcSrgvRead.deviceSrgvMap.values()) {
if (x.getWorkMode() == 5 && x.getStatus() == 1) {
existsKxSRgv = true;
break;
}
}
if (!existsKxSRgv) {
List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzHasSRgvList();
if (CollUtil.isNotEmpty(deviceCdzs)) {
for (DeviceCdz deviceCdz : deviceCdzs) {
if (PlcSrgvRead.deviceSrgvMap.containsKey(deviceCdz.getSpare1())) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
if (deviceSrgv.getBattery() >= 50) {
//生成断电任务
createChargingOutJob(deviceSrgv, deviceCdz);
break;
}
}
}
}
Integer count = mydoJobService.selectMydoJobCount();
List<DeviceCdz> deviceCdzdd = deviceCdzService.selectDeviceCdzHasSRgvList();
for (DeviceCdz deviceCdz : deviceCdzdd) {
if (PlcSrgvRead.deviceSrgvMap.containsKey(deviceCdz.getSpare1())
&& ((PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()).getBattery() >= MIDDLE_BETTERY && count > 0) || PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()).getBattery() >= MAX_BETTERY)
&& PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()).getWorkMode() == 5
&& PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()).getChargeFlag() == 2 && deviceCdz.getStatus() == 1) {
createChargingOutJob(PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1()), deviceCdz);
}
}
// //生成断电任务 有任务且电量大于50 todo 代码无效
// WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
// wcsSrgvQueueParam.setIssued("0");
// List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(wcsSrgvQueueParam);
// if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
// boolean existsKxSRgv = false;
// //判断有没有空闲小车
// for (DeviceSrgv x : PlcSrgvRead.deviceSrgvMap.values()) {
// if (x.getWorkMode() == 5 && x.getStatus() == 1) {
// existsKxSRgv = true;
// break;
// }
// }
// if (!existsKxSRgv) {
// List<DeviceCdz> deviceCdzs = deviceCdzService.selectDeviceCdzHasSRgvList();
// if (CollUtil.isNotEmpty(deviceCdzs)) {
// for (DeviceCdz deviceCdz : deviceCdzs) {
// if (PlcSrgvRead.deviceSrgvMap.containsKey(deviceCdz.getSpare1())) {
// DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(deviceCdz.getSpare1());
// if (deviceSrgv.getBattery() >= 50) {
// //生成断电任务
// createChargingOutJob(deviceSrgv, deviceCdz);
// break;
// }
// }
// }
// }
// }
// }
//断电任务下发
SrgvChargingJob srgvChargingJobDdParam = new SrgvChargingJob();
srgvChargingJobDdParam.setChargingStatus("0");
@@ -212,7 +228,7 @@ public class CdzThread implements Runnable {
//寻找最接近的充电桩
Integer floor = deviceSrgv.getCurrFloor();
DeviceCdz cdz = null;
Optional<DeviceCdz> min = cdzList.stream().filter(c -> c.getSzcs().equals(floor)).min((o1, o2) -> {
Optional<DeviceCdz> min = cdzList.stream().min((o1, o2) -> {
Integer distance1 = Math.abs(o1.getSzcs());
Integer distance2 = Math.abs(o2.getSzcs());
return distance1 - distance2;
@@ -265,7 +281,7 @@ public class CdzThread implements Runnable {
srgvChargingJobParamOut.setJobType("2");
List<SrgvChargingJob> srgvChargingJobOut = chargingJobService.selectSrgvChargingJobList(srgvChargingJobParamOut);
if (CollUtil.isNotEmpty(srgvChargingJobs)&&CollUtil.isEmpty(srgvChargingJobOut)) {
if (CollUtil.isNotEmpty(srgvChargingJobs) && CollUtil.isEmpty(srgvChargingJobOut)) {
SrgvChargingJob scj = srgvChargingJobs.get(0);
//插入历史

1
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java
View File

@@ -61,6 +61,7 @@ public class MonitoringThread implements Runnable {
}
for (String cdzCode : PlcCdzRead.deviceCdzMap.keySet()) {
DeviceCdz deviceCdz = PlcCdzRead.deviceCdzMap.get(cdzCode);
deviceCdz.setSpare1(null);
deviceCdzService.updateDeviceCdz(deviceCdz);
}
try {

704
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -32,8 +32,10 @@ import com.ruoyi.schedule.ScheduleThread;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import io.swagger.models.auth.In;
import lombok.extern.slf4j.Slf4j;
import java.sql.Struct;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
@@ -111,7 +113,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
createCarInQueue();
// 出库队列
createCarOutQueue();
// 充电任务
// 充电任务队列
inCharging(deviceSrgv);
// 充电完成调离
// outCharging(deviceSrgv);
@@ -184,8 +186,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
} else {
wcsSrgvQueue.setEndSite("tsj");
wcsSrgvQueue.setDefault02("8");
// if (endSite.equals("tsj")){
Integer count = wcsSagvQueueMapper.selectTsj();
if (count > 0) {
return;
}
// }
}
wcsSrgvQueue.setTaskNo("9999");
wcsSrgvQueue.setTaskNo(String.valueOf(deviceSrgv.getDeviceId() + 500));
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
@@ -214,173 +222,240 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
* 生成出库小车队列
*/
private void createCarOutQueue() {
MydoJob mydoJob = new MydoJob();
mydoJob.setInOut("2");
mydoJob.setExecutionPhase("0");
mydoJob.setStatus("1");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
// MydoJob mydoJob = new MydoJob();
// mydoJob.setInOut("2");
// mydoJob.setExecutionPhase("0");
// mydoJob.setStatus("1");
// List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobOut();
if (!mydoJobs.isEmpty()) {
MydoJob mydoJob1 = mydoJobs.get(0);
// 查询是否有已下发的该任务号队列
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
.filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
.sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
- Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
.collect(Collectors.toList());
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv = null;
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
//优先出库层，如果没有优先邻近层
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
break;
} else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
for (MydoJob mydoJob1 : mydoJobs) {
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 1)
.filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
.sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
- Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
.collect(Collectors.toList());
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv = null;
/*for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
//优先出库层，如果没有优先邻近层
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
break;
} else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1;
}
}
}*/
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
//先找流程相等的小车
List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
int z = 100000;
for (DeviceSrgv srgv : currentFloorCarList) {
// 坐标截取和转换（保留你的原有逻辑）
Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
Integer startY = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 2, 4));
Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
// 计算当前小车到取货点的曼哈顿距离
int tempZ = Math.abs(startX - endX) + Math.abs(startY - endY);
// 核心修正：只要当前tempZ比记录的最小z更小，就更新z和对应的小车
if (tempZ < z) {
z = tempZ; // 把z更新为当前更小的距离
deviceSrgv = srgv; // 记录这个更近的小车
log.info("楼层相等，找到更近小车 距离{} srgv:{}", tempZ, srgv);
}
}
}
if (deviceSrgv != null) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
if (deviceSrgv == null) {
//如果未选择到小车，再找其他楼层的小车
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
log.info("楼层bu相等:{}", deviceSrgv);
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
//查询小车是否为取货楼层
String endSite = "";
String issued = "0";
String executionStatus = "1";
String default08 = "";//是否二段任务标识
String default06 = "";
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
Integer currFloor = deviceSrgv.getCurrFloor();
Integer theLayer = wcsSrgvMaps.get(0).getPlcLayer();
if (Objects.equals(deviceSrgv.getCurrFloor(), wcsSrgvMaps.get(0).getPlcLayer())) {
//终点是巷道口到位输送线
endSite = cargoPickSite;
//生成队列时插入二段下发标识和第二段任务终点
String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(endSite);
String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
if (!endSite.equals(siteId) && !deviceSrgv.getCurrSite().equals(endSite)) {
default08 = "1";
default06 = siteId;
}
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
issued = "1";
executionStatus = "3";
}
} else {
//终点是提升机
endSite = "tsj";
}
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
String cargoPlaceSite ="";
ConcurrentHashMap<String, DeviceSsj> deviceSsjMap = PlcSsjRead.deviceSsjMap;
List<String> outModelSSJ=new ArrayList<>();
for (String deviceSsj : deviceSsjMap.keySet()) {
if (deviceSsj.equals("TD1001")||deviceSsj.equals("TD1008")) {
DeviceSsj deviceSsj1=deviceSsjMap.get(deviceSsj);
if (deviceSsj1.getModel()==2){
String s="";
if (deviceSsj1.equals("TD1001")){
s="050101";
}else {
s="070101";
}
outModelSSJ.add(s);
}
}
}
cargoPlaceSite= wcsSagvQueueMapper.selectMinCountJob(outModelSSJ);
if (Objects.equals(cargoPlaceSite, "")){
return;
}
wcsSrgvMap1.setRemark(mydoJob1.getExitId());
//TODO 读取输送机入出库模式分配出口
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
String cargoPlaceSite1 =cargoPlaceSite;
List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
.filter(d -> d.getWorkMode() == 5
&& d.getStatus() == 1
&& d.getCurrSite().equals(cargoPlaceSite1))
.collect(Collectors.toList());
if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
wcsSrgvMap3.setRemark("cache");
List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
//deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
//生成小车到缓存点队列
WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue3.setTaskNo("9999");
wcsSrgvQueue3.setTaskType("1");
wcsSrgvQueue3.setPriority(Long.parseLong("2"));
wcsSrgvQueue3.setCargo("1");
wcsSrgvQueue3.setIssued(issued);
wcsSrgvQueue3.setExecutionStatus(executionStatus);
wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
wcsSrgvQueue3.setDefault02("4");
wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
}
}
if (deviceSrgv != null) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
//查询小车是否为取货楼层
String endSite = "";
String issued = "0";
String executionStatus = "1";
String default08 = "";//是否二段任务标识
String default06 = "";
Integer currFloor = deviceSrgv.getCurrFloor();
Integer theLayer = wcsSrgvMaps.get(0).getPlcLayer();
if (Objects.equals(deviceSrgv.getCurrFloor(), wcsSrgvMaps.get(0).getPlcLayer())) {
//终点是巷道口到位输送线
endSite = cargoPickSite;
//生成队列时插入二段下发标识和第二段任务终点
String groupCodingNo = basCargoSpaceService.selecGroupCodingBySite(endSite);
String siteId = basCargoSpaceService.selectMaxSiteIdByNo(groupCodingNo);
if (!endSite.equals(siteId) && !deviceSrgv.getCurrSite().equals(endSite)) {
default08 = "1";
default06 = siteId;
}
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
issued = "1";
executionStatus = "3";
}
} else {
//终点是提升机
endSite = "tsj";
}
if (endSite.equals("tsj")) {
Integer count = wcsSagvQueueMapper.selectTsj();
if (count > 0) {
return;
}
}
mydoJob1.setExitId(null);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
String cargoPlaceSite = "";
ConcurrentHashMap<String, DeviceSsj> deviceSsjMap = PlcSsjRead.deviceSsjMap;
List<String> outModelSSJ = new ArrayList<>();
if (!mydoJob1.getInOrOut().equals("30")) {
for (String deviceSsj : deviceSsjMap.keySet()) {
if (deviceSsj.equals("TD1001") || deviceSsj.equals("TD1008")) {
DeviceSsj deviceSsj1 = deviceSsjMap.get(deviceSsj);
if (deviceSsj1.getModel() == 2) {
String s = "";
String ssj = "";
if (deviceSsj1.getName().equals("TD1001")) {
s = "050101";
ssj = "L1004";
} else {
s = "070101";
ssj = "L1005";
}
Integer count = mydoJobService.selectExit(ssj);
if (count == 0) {
mydoJob1.setExitId(ssj);
mydoJobService.updateMydoJob(mydoJob1);
outModelSSJ.add(s);
break;
}
}
}
}
cargoPlaceSite = wcsSagvQueueMapper.selectMinCountJob(outModelSSJ);
if (Objects.equals(cargoPlaceSite, "")) {
return;
}
}
wcsSrgvMap1.setRemark(mydoJob1.getExitId());
//TODO 读取输送机入出库模式分配出口
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
String cargoPlaceSite1 = cargoPlaceSite;
List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
.filter(d -> d.getWorkMode() == 5
&& d.getStatus() == 1
&& d.getCurrSite().equals(cargoPlaceSite1))
.collect(Collectors.toList());
if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
wcsSrgvMap3.setRemark("cache");
// List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
// for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
// //deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
// if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
// //生成小车到缓存点队列
// WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
// WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
// wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
// List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
// if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
// WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
// wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
// wcsSrgvQueue3.setTaskNo("11111");
// wcsSrgvQueue3.setTaskType("1");
// wcsSrgvQueue3.setPriority(Long.parseLong("2"));
// wcsSrgvQueue3.setCargo("1");
// wcsSrgvQueue3.setIssued(issued);
// wcsSrgvQueue3.setExecutionStatus(executionStatus);
// wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
// wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
// wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
// wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
// wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
// wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
// wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
// wcsSrgvQueue3.setDefault02("4");
// wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
// wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
// }
// }
// }
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
if (mydoJob1.getInOrOut().equals("30")) {
WcsSrgvMap wcsSrgvMapsite = new WcsSrgvMap();
wcsSrgvMapsite.setCargoSpaceId(mydoJob1.getTargetCargoSpaceId());
List<WcsSrgvMap> wcsSrgvSite = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMapsite);
cargoPlaceSite = wcsSrgvSite.get(0).getSiteId();
}
wcsSrgvQueue.setCargoPlaceSite(cargoPlaceSite);
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
if (endSite.equals("tsj")) {
wcsSrgvQueue.setDefault02("8");
mydoJob1.setExitId(null);
mydoJobService.updateMydoJob(mydoJob1);
} else {
wcsSrgvQueue.setDefault02("4");
}
String cargoSpaceId = mydoJob1.getCargoSpaceId();
String tarFloor = cargoSpaceId.substring(5, 6);
wcsSrgvQueue.setDefault07(tarFloor);
wcsSrgvQueue.setDefault08(default08);
wcsSrgvQueue.setDefault06(default06);
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
wcsSrgvQueue.setCargoPlaceSite(cargoPlaceSite);
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
if (endSite.equals("tsj")) {
wcsSrgvQueue.setDefault02("8");
} else {
wcsSrgvQueue.setDefault02("4");
}
String cargoSpaceId = mydoJob1.getCargoSpaceId();
String tarFloor = cargoSpaceId.substring(5, 6);
wcsSrgvQueue.setDefault07(tarFloor);
wcsSrgvQueue.setDefault08(default08);
wcsSrgvQueue.setDefault06(default06);
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
}
}
}
}
@@ -394,150 +469,186 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
mydoJob.setInOut("1");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
if (!mydoJobs.isEmpty()) {
MydoJob mydoJob1 = mydoJobs.get(0);
// 查询是否有已下发的该任务号队列
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
for (MydoJob mydoJob1 : mydoJobs) {
// 查询是否有已下发的该任务号队列
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
.filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
.filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
.sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
.collect(Collectors.toList());
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
.filter(deviceSrgv -> deviceSrgv.getBattery() > 30)
.filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
.filter(deviceSrgv -> deviceSrgv.getStatus() == 1)
.sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
.collect(Collectors.toList());
log.info("list:{}", deviceSrgvList);
log.info("list:{}", deviceSrgvList);
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv = null;
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
log.info("楼层相等：{}", deviceSrgv);
break; // 找到了相同楼层的直接选它
} else {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
log.info("楼层bu相等:{}", deviceSrgv);
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv = null;
//找到入库
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
log.error("入库任务号：{} 入库入口ID为空", mydoJob1.getTaskNo());
return;
}
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
//先找流程相等的小车
List<DeviceSrgv> currentFloorCarList = deviceSrgvList.stream().filter(x -> x.getCurrFloor().toString().equals(mydoJob1.getTheFloor())).collect(Collectors.toList());
int z = 100000;
for (DeviceSrgv srgv : currentFloorCarList) {
// 坐标截取和转换（保留你的原有逻辑）
Integer startX = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 0, 2));
Integer endX = Convert.toInt(StrUtil.sub(cargoPickSite, 0, 2));
Integer startY = Convert.toInt(StrUtil.sub(srgv.getCurrSite(), 2, 4));
Integer endY = Convert.toInt(StrUtil.sub(cargoPickSite, 2, 4));
// 计算当前小车到取货点的曼哈顿距离
int tempZ = Math.abs(startX - endX) + Math.abs(startY - endY);
// 核心修正：只要当前tempZ比记录的最小z更小，就更新z和对应的小车
if (tempZ < z) {
z = tempZ; // 把z更新为当前更小的距离
deviceSrgv = srgv; // 记录这个更近的小车
log.info("楼层相等，找到更近小车 距离{} srgv:{}", tempZ, srgv);
}
}
}
if (deviceSrgv == null) {
//如果未选择到小车，再找其他楼层的小车
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
if (!deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
log.info("楼层bu相等:{}", deviceSrgv);
if (deviceSrgv != null) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1 && wcsSrgvQueue4 == null) {
//查询小车是否为1楼,且1楼小车不在入库站点
String endSite = "";
String issued = "0";
String executionStatus = "1";
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
if (StrUtil.isEmpty(wcsSrgvMap.getRemark())) {
log.error("入库任务号：{} 入库入口ID为空", mydoJob1.getTaskNo());
return;
}
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
if (deviceSrgv.getCurrFloor() == 1) {
endSite = cargoPickSite;
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
// 小车已在取货点
issued = "1";
executionStatus = "3";
}
} else {
// 小车不在1楼
endSite = "tsj";
}
//筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
.filter(d -> d.getWorkMode() == 5
&& d.getStatus() == 1
&& d.getCurrSite().equals(cargoPickSite))
.collect(Collectors.toList());
if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
wcsSrgvMap3.setRemark("cache");
List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
//deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
//生成占位小车到缓存点队列
WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache));
wcsSrgvQueue3.setTaskType("1");
wcsSrgvQueue3.setPriority(Long.parseLong("2"));
wcsSrgvQueue3.setCargo("1");
wcsSrgvQueue3.setIssued(issued);
wcsSrgvQueue3.setExecutionStatus(executionStatus);
wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
wcsSrgvQueue3.setDefault02("4");
wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
taskCache++;
return;
}
}
}
}
}
if (deviceSrgv != null) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
WcsSrgvQueue wcsSrgvQueue4 = wcsSagvQueueMapper.selectWcsSrgvQueueByFloor(mydoJob1.getTheFloor());
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1
// && wcsSrgvQueue4 == null
) {
//查询小车是否为1楼,且1楼小车不在入库站点
String endSite = "";
String issued = "0";
String executionStatus = "1";
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
if (endSite.equals("tsj")) {
wcsSrgvQueue.setDefault02("8");
} else {
wcsSrgvQueue.setDefault02("4");
if (deviceSrgv.getCurrFloor() == 1) {
endSite = cargoPickSite;
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
// 小车已在取货点
issued = "1";
executionStatus = "3";
}
} else {
// 小车不在1楼
endSite = "tsj";
}
if (endSite.equals("tsj")) {
Integer count = wcsSagvQueueMapper.selectTsj();
if (count > 0) {
return;
}
}
//筛选出deviceSrgvMap中deviceSrgv.getWorkMode() == 4并且deviceSrgv.getStatus() == 1并且deviceSrgv.getCurrSite() == cargoPickSite得对象，并排除掉其中deviceId与deviceSrgv.getDeviceId()相同的对象
List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
.filter(d -> d.getWorkMode() == 5
&& d.getStatus() == 1
&& d.getCurrSite().equals(cargoPickSite))
.collect(Collectors.toList());
if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) {
WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap();
wcsSrgvMap3.setRemark("cache");
List<WcsSrgvMap> wcsSrgvMaps3 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap3);
for (WcsSrgvMap wcsSrgvMap4 : wcsSrgvMaps3) {
//deviceSrgvMap中所有对象的currSite都不等于wcsSrgvMap4的siteId的对象
//todo
// if (deviceSrgvMap.values().stream().noneMatch(d -> d.getCurrSite().equals(wcsSrgvMap4.getSiteId()))) {
// WcsSrgvQueue wcsSrgvQueue5 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(sameSiteDevices.get(0).getDeviceId().toString());
// WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
// wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
// List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
// if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
// //生成占位小车到缓存点队列
// WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue();
// wcsSrgvQueue3.setGuid(UUID.randomUUID().toString());
// wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache));
// wcsSrgvQueue3.setTaskType("1");
// wcsSrgvQueue3.setPriority(Long.parseLong("2"));
// wcsSrgvQueue3.setCargo("1");
// wcsSrgvQueue3.setIssued(issued);
// wcsSrgvQueue3.setExecutionStatus(executionStatus);
// wcsSrgvQueue3.setCargoPickSite(cargoPickSite);
// wcsSrgvQueue3.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
// wcsSrgvQueue3.setStartSite(sameSiteDevices.get(0).getCurrSite());
// wcsSrgvQueue3.setEndSite(wcsSrgvMap4.getSiteId());
// wcsSrgvQueue3.setTheFloor(sameSiteDevices.get(0).getCurrFloor().toString());
// wcsSrgvQueue3.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
// wcsSrgvQueue3.setAgvId(sameSiteDevices.get(0).getDeviceId().toString());
// wcsSrgvQueue3.setDefault02("4");
// wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString());
// wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3);
// taskCache++;
// return;
// }
// }
}
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
if (endSite.equals("tsj")) {
wcsSrgvQueue.setDefault02("8");
} else {
wcsSrgvQueue.setDefault02("4");
}
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
}
}
}
}
@@ -867,7 +978,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
if (wcsSrgvQueue.getDefault08().equals("2") && deviceSrgv.getSpare5().equals("1")) {
if (wcsSrgvQueue.getDefault08().equals("2")
&& deviceSrgv.getSpare5().equals("1")
) {
sendDataList = new ArrayList<>();
SendData2 path = new SendData2();
path.setAddress("4404");//地址
@@ -926,7 +1039,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
//换层任务不修改执行阶段
if (mydoJob!=null && !wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) {
if (mydoJob != null && !wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) {
mydoJob.setExecutionPhase("3");
mydoJob.setStatus("3");
mydoJobService.updateMydoJob(mydoJob);
@@ -972,6 +1085,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
// 载货任务（出库、入库、移库等）
sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
break;
case "7":
// 移库任务（出库、入库、移库等）
sendFlag = sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
break;
}
if (sendFlag) {
@@ -1163,6 +1280,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//不同层，终点为提升机
endSite = "tsj";
}
// 如果终点是提升机需要判断是否有其他任务也是提升机的 这个时候先停一下
if (endSite.equals("tsj")) {
Integer count = wcsSagvQueueMapper.selectTsj();
if (count > 0) {
return;
}
}
if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
xfType = "1";//入库
@@ -1208,7 +1332,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
case "2":
MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
if (mydoJobOut != null) {
if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) {
JobCallBack jobCallBack = new JobCallBack();
jobCallBack.setType(wcsSrgvQueue.getDefault02());
jobCallBack.setMydojobId(mydoJobOut.getJobId());
@@ -1220,7 +1344,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
}
case "7"://移库，变动库存
break;
MydoJob mydoJobyk = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
if (mydoJobyk != null) {
JobCallBack jobCallBack = new JobCallBack();
jobCallBack.setType(wcsSrgvQueue.getDefault02());
jobCallBack.setMydojobId(mydoJobyk.getJobId());
jobCallBack.setStatus("0");
jobCallBack.setTaskNo(Convert.toLong(mydoJobyk.getTaskNo()));
jobCallBack.setCreateTime(new Date());
jobCallBackService.insertJobCallBack(jobCallBack);
mydoJobService.insertHistory(mydoJobyk.getJobId());
mydoJobService.deleteMydoJobByJobId(mydoJobyk.getJobId());
}
default:
break;
}

754
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread1.java
View File

@@ -1,754 +0,0 @@
package com.ruoyi.schedule.scheduleTask.srgv;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.convert.Convert;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.bas.srgvmap.domain.WcsSrgvMap;
import com.ruoyi.bas.srgvmap.service.IWcsSrgvMapService;
import com.ruoyi.bas.srgvmap.service.RoadCacheService;
import com.ruoyi.common.TaskStage;
import com.ruoyi.common.domain.SendData2;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.job.charg.service.ISrgvChargingJobService;
import com.ruoyi.job.domain.JobCallBack;
import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.job.service.IJobCallBackService;
import com.ruoyi.job.service.IMydoJobService;
import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueue;
import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
import lombok.extern.slf4j.Slf4j;
import java.util.*;
import java.util.stream.Collectors;
import static com.ruoyi.common.TaskStage.FINISHED;
import static com.ruoyi.common.TaskStage.STAGE7;
@Slf4j
public class BaseSRgvThread1 implements Runnable, SRgvThreadInterface {
private IWcsSrgvMapService wcsSrgvMapService;
private IWcsSrgvQueueService wcsSrgvQueueService;
private ITsjDeviceExecutionQueueService tsjDeviceExecutionQueueService;
private IMydoJobService mydoJobService;
private RoadCacheService roadCacheService;
private IJobCallBackService jobCallBackService;
public IWcsSrgvQueueFinishService wcsSagvQueueFinishMapper;
public IWcsPortService wcsPortService;
public ISrgvChargingJobService srgvChargingJobMapper;
public boolean isRun = true;
public HashMap<String, List<String>> sRgvCodeList;
public void init() {
sRgvCodeList = new HashMap<>();
ArrayList<String> sRgvCodes = new ArrayList<>();
sRgvCodes.add("1");
/*sRgvCodes.add("2");
sRgvCodes.add("3");*/
sRgvCodeList.put("srgv", sRgvCodes);
wcsSagvQueueFinishMapper = SpringUtils.getBean(IWcsSrgvQueueFinishService.class);
wcsPortService = SpringUtils.getBean(IWcsPortService.class);
srgvChargingJobMapper = SpringUtils.getBean(ISrgvChargingJobService.class);
mydoJobService = SpringUtils.getBean(IMydoJobService.class);
wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
roadCacheService = SpringUtils.getBean(RoadCacheService.class);
wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class);
tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class);
}
@Override
public void run() {
init();
while (isRun) {
for (String code : sRgvCodeList.get("srgv")) {
try {
if (PlcSrgvRead.deviceSrgvMap.containsKey(code)) {
if (ObjUtil.isNotNull(PlcSrgvRead.deviceSrgvMap.get(code))) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code);
//selectCarForTask();
createSrgvInOutQueue();
srgvTask(deviceSrgv);
} else {
log.error("小车设备为空");
}
}
} catch (RuntimeException e) {
log.error(e.getMessage(), e);
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
public void selectCarForTask() {
MydoJob mydoJob = mydoJobService.selectNoAllocatCar();
/*
选择执行任务的小车
优先级 目标层已有小车 > 1 层空闲小车 > 其他无任务层空闲小车
*/
if (ObjUtil.isNotNull(mydoJob)) {
for (String srgvId : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvId);
//如果小车空闲，选择小车
if (deviceSrgv.getStatus() == 0) {
mydoJob.setCarId(srgvId);
mydoJob.setStatus("3");
mydoJob.setStartTime(DateUtil.format(new Date(), "yyyy-MM-dd HH:mm:ss"));
/*
根据选择的小车当前位置 确定mydojob的任务阶段
*/
Integer floor = deviceSrgv.getCurrFloor();
String currSite = deviceSrgv.getCurrSite();
if (floor.equals(Convert.toInt(mydoJob.getRoadwayId()))) {
//小车所在楼层和任务开始楼层一致 3 5
if (!currSite.equals(mydoJob.getCargoSpaceId())) {
mydoJob.setExecutionPhase("3");
} else {
//判断目标楼层是不是1层
if (!"1".equals(mydoJob.getTargetRoadwayId())) {
mydoJob.setExecutionPhase("5");
} else {
mydoJob.setExecutionPhase("7");
}
}
} else {
mydoJob.setExecutionPhase("1");
}
mydoJobService.updateMydoJob(mydoJob);
}
}
}
}
/* 出库
1-2-3-5-6-7 车在其它层 && 取货目标在其它层
1-2-3-7 车在其它层 && 取货目标在1层
3-5-6-7 车在取货层 && 取货目标在其它层
3-7 车在取货层 && 层数为1 && 放货目标在1层
*/
public void outQueue() {
}
/* 入库
1-2-3-5-6-7 车在其它层 && 放货目标在其它层
1-2-3-7 车在其它层 && 放货目标在1层
3-5-6-7 车在1层 && 放货目标在其它层
3-7 车在1层 && 放货目标在1层
任务类型 方式
1 srgv 点对点 当前位置→本层电梯口
2 tsj 换层 取放 当前层→起点层
3 srgv 点对点 取货 当前位置->取货点
5 srgv 点对点 取货点->本层电梯口
6 tsj 换层 取放 取货层->放货层
7 srgv 点对点 放货 本层电梯口->放货点
*/
public void createSrgvInOutQueue() {
MydoJob param = new MydoJob();
param.setStatus("3");
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(param);
if (CollUtil.isNotEmpty(mydoJobs)) {
for (MydoJob mydoJob : mydoJobs) {
if (StrUtil.isNotEmpty(mydoJob.getCarId())) {
//绑定任务小车
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(mydoJob.getCarId());
//开始小车任务阶段
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE1.getCode())) {
/*
当前位置→本层电梯口 srgv
1. 调用 A * 算法规划层内最优路径（避开墙 0/4，走通道 2）
2. 实时检测通道冲突（与其他小车路径不重叠）
3. 移动到本层电梯口
*/
String startSite = deviceSrgv.getCurrSite();
Integer floor = deviceSrgv.getCurrFloor();
String endSite = getTsjSiteIdByFloor(floor);
if (StrUtil.isEmpty(endSite)) {
log.info("生成tsj队列失败，未找到层数为{}电梯口", floor);
} else {
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}
}
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE2.getCode())) {
/*
本层电梯口→起点层电梯口 tsj
1. 加入电梯排队队列（按任务优先级 + 到电梯口距离排序）
2. 等待电梯空闲后占用电梯，跨层到 1 层
3. 电梯到达后，更新小车位置为(1,8,8)
*/
//生成tsj队列
//根据位置判断列数
String srcColumn = "";
String tarColumn = "";
Integer srcFloor = deviceSrgv.getCurrFloor();
Integer tarFloor = Convert.toInt(mydoJob.getRoadwayId());
String rwlx = "";
int tsjQueue = createTsjQueue(Convert.toLong(mydoJob.getTaskNo()), srcFloor, srcColumn, tarFloor, tarColumn, mydoJob.getCarId(), rwlx);
if (tsjQueue > 0) {
log.info("生成tsj队列成功 rwh:{},srcC:{},srcF:{},tarC:{},tarF:{},rwlx:{}", mydoJob.getTaskNo(), srcColumn, srcFloor, tarColumn, tarFloor, rwlx);
}
}
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE3.getCode())) {
/*
起点层电梯口(小车当前位置)→起点层作业点 srgv
1. 规划 1 层电梯口到作业点的路径（1 层通道拥堵高发，优先走预设单向通道）
2. 检查作业点占用状态（同一时间仅 1 台小车作业）
3. 移动到作业点并锁定作业点
*/
//生成srgv队列
String startSite = getTsjSiteIdByFloor(Convert.toInt(mydoJob.getRoadwayId()));
String endSite = mydoJob.getCargoSpaceId();
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}
/*if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE4.getCode())) {
*//*
作业点执行取/放货-> srgv
1. 触发取货传感器，确认货物已装载
2. 更新任务状态为取货完成
3. 释放作业点（供其他小车使用）
*//*
String startSite = "";
String endSite = "";
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}*/
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE5.getCode())) {
/*
作业点->起点层电梯口 srgv
1. 规划作业点到电梯口的返程路径
2. 再次检测 1 层通道冲突（避免与新任务小车对向拥堵）
3. 移动到 1 层电梯口
*/
String startSite = "";
String endSite = "";
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE6.getCode())) {
/*
起点层电梯口→目标层电梯口 tsj
1. 加入电梯队列（按任务优先级排序，优先高优先级任务）
2. 占用电梯跨层到目标层
3. 电梯到达后，更新小车位置为(目标层,8,8)
*/
//生成tsj队列
String srcColumn = "";
String tarColumn = "";
Integer srcFloor = 0;
Integer tarFloor = 0;
String rwlx = "";
int tsjQueue = createTsjQueue(Convert.toLong(mydoJob.getTaskNo()), srcFloor, srcColumn, tarFloor, tarColumn, mydoJob.getCarId(), rwlx);
if (tsjQueue > 0) {
log.info("生成tsj队列成功 rwh:{},srcC:{},srcF:{},tarC:{},tarF:{},rwlx:{}", mydoJob.getTaskNo(), srcColumn, srcFloor, tarColumn, tarFloor, rwlx);
}
}
if (mydoJob.getExecutionPhase().equals(STAGE7.getCode())) {
/*
当前位置→目标货位 srgv
1. 规划目标层电梯口到目标货位的路径
2. 检查目标货位状态（是否空闲，避免重复放货）
3. 移动到目标货位，触发放货传感器
*/
//生成srgv队列
String startSite = deviceSrgv.getCurrSite();
String endSite = mydoJob.getTargetCargoSpaceId();
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}
if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE8.getCode())) {
/*
. 可选两种待命策略：
- 策略 1（优先高效）：回到目标层电梯口（就近待命，减少下一次任务跨层成本）
- 策略 2（优先均衡）：回到1 层作业点附近（适配高频 1 层出发任务）
2. 更新小车状态为idle，清空当前任务
*/
//生成srgv队列
String startSite = "";
String endSite = "";
String rwlx = "4";
int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx);
if (srgvQueue > 0) {
log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite);
}
}
if (mydoJob.getExecutionPhase().equals(FINISHED.getCode())) {
//完成任务
mydoJob.setFinishTime(DateUtil.formatDateTime(new Date()));
mydoJob.setStatus("4");
mydoJobService.updateMydoJob(mydoJob);
mydoJobService.insertHistory(mydoJob.getJobId());
JobCallBack jobCallBack = new JobCallBack();
jobCallBack.setMydojobId(mydoJob.getJobId());
jobCallBack.setStatus("0");
if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
jobCallBack.setType("1");
} else {
jobCallBack.setType("2");
}
jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
jobCallBack.setCreateTime(new Date());
jobCallBackService.insertJobCallBack(jobCallBack);
}
}
}
}
}
/**
* 创建srgv队列
*
* @param mydoJob 任务
* @param startSite 源站
* @param endSite 目的站
* @param rwlx 任务类型 1-入库 2-出库 3-充电 4-点对点
*/
private int createSrgvQueue(MydoJob mydoJob, String startSite, String endSite, String rwlx) {
WcsSrgvQueue queue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(mydoJob.getTaskNo());
if (queue != null) {
return 0;
}
//生成srgv队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(IdUtil.simpleUUID());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setTaskNo(mydoJob.getTaskNo());
wcsSrgvQueue.setPriority(2L);
wcsSrgvQueue.setCargo("0");
wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("0");
wcsSrgvQueue.setCargoPickSite(mydoJob.getCargoSpaceId());
wcsSrgvQueue.setCargoPlaceSite(mydoJob.getTargetCargoSpaceId());
wcsSrgvQueue.setStartSite(startSite);
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setCreateDate(DateUtil.format(new Date(), "yyyy-MM-dd HH:mm:ss"));
wcsSrgvQueue.setAgvId(mydoJob.getCarId());
wcsSrgvQueue.setDefault02(rwlx);
return wcsSrgvQueueService.insertWcsSrgvQueue(wcsSrgvQueue);
}
//出库 1-2-3-4-5-6-7-4-9
/**
* 创建提升机队列
*
* @param taskNo 任务编号
* @param srcColumn 源列
* @param srcFloor 源层
* @param tarColumn 目标列
* @param tarFloor 目标层
* @param carId 小车id
* @param rwlx 任务类型
*/
private int createTsjQueue(Long taskNo, Integer srcFloor, String srcColumn, Integer tarFloor, String tarColumn, String carId, String rwlx) {
TsjDeviceExecutionQueue queue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(taskNo);
if (ObjUtil.isNull(queue)) {
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID());
tsjDeviceExecutionQueue.setDeviceId(1L);
tsjDeviceExecutionQueue.setDeviceName("提升机");
tsjDeviceExecutionQueue.setTaskNo(taskNo);
tsjDeviceExecutionQueue.setSrcColumn(srcColumn);
tsjDeviceExecutionQueue.setSrcLayer(Convert.toStr(srcFloor));
tsjDeviceExecutionQueue.setTarColumn(tarColumn);
tsjDeviceExecutionQueue.setTarLayer(Convert.toStr(tarFloor));
tsjDeviceExecutionQueue.setSendType("1");
tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
tsjDeviceExecutionQueue.setSpare1(carId);
tsjDeviceExecutionQueue.setTaskType("1");
tsjDeviceExecutionQueue.setRwlx(rwlx);
return tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
}
return 0;
}
private String getTsjSiteIdByFloor(int floor) {
String siteId = null;
switch (floor) {
case 1:
siteId = "040801";
break;
case 2:
siteId = "040802";
break;
case 3:
siteId = "040803";
break;
case 4:
siteId = "040804";
break;
case 5:
siteId = "040805";
break;
case 6:
siteId = "040806";
break;
case 7:
siteId = "040807";
break;
case 8:
siteId = "040808";
break;
default:
return null;
}
return siteId;
}
/**
* 小车任务处理
*/
private void srgvTask(DeviceSrgv deviceSrgv) {
//队列下发成功处理
resQueue(deviceSrgv);
//小车完成队列
completeCarTask(deviceSrgv);
//小车发送任务
sendTask(deviceSrgv);
}
/**
* 队列下发成功处理
*/
private void resQueue(DeviceSrgv deviceSrgv) {
int taskNo = deviceSrgv.getTaskNo();
String currSite = deviceSrgv.getCurrSite();
Integer deviceId = deviceSrgv.getDeviceId();
if (taskNo > 999 && !"000000".equals(currSite)) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setTaskNo(Convert.toStr(taskNo));
param.setIssued("0");
param.setAgvId(String.valueOf(deviceId));
List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param);
if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
wcsSrgvQueue.setIssued("1");
wcsSrgvQueue.setStartDate(DateUtil.now());
wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
}
}
}
/**
* 小车完成队列
*/
private void completeCarTask(DeviceSrgv deviceSrgv) {
//联机自动
if (deviceSrgv.getWorkMode() == 4) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
param.setEndSite(deviceSrgv.getCurrSite());//目标点
param.setIssued("1");
param.setTaskNo(deviceSrgv.getTaskNo().toString());
List<WcsSrgvQueue> wcsSagvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param);//查询到达目标的
if (CollUtil.isNotEmpty(wcsSagvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo()));
if (mydoJob != null) {
Integer floor = deviceSrgv.getCurrFloor();
Integer startFloor = Convert.toInt(mydoJob.getRoadwayId());
Integer endFloor = Convert.toInt(mydoJob.getTargetRoadwayId());
if (Convert.toInt(mydoJob.getInOrOut()) < 20) {
//入库
if ("1".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("2");
mydoJobService.updateMydoJob(mydoJob);
} else if ("3".equals(mydoJob.getExecutionPhase())) {
if (floor.equals(endFloor)) {
mydoJob.setExecutionPhase("7");
mydoJobService.updateMydoJob(mydoJob);
} else {
mydoJob.setExecutionPhase("5");
mydoJobService.updateMydoJob(mydoJob);
}
} else if ("5".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("6");
mydoJobService.updateMydoJob(mydoJob);
} else if ("7".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("8");
mydoJobService.updateMydoJob(mydoJob);
}
} else {
//出库
if ("1".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("2");
mydoJobService.updateMydoJob(mydoJob);
} else if ("3".equals(mydoJob.getExecutionPhase())) {
if (floor.equals(1)) {
mydoJob.setExecutionPhase("7");
mydoJobService.updateMydoJob(mydoJob);
} else {
mydoJob.setExecutionPhase("5");
mydoJobService.updateMydoJob(mydoJob);
}
} else if ("5".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("6");
mydoJobService.updateMydoJob(mydoJob);
} else if ("7".equals(mydoJob.getExecutionPhase())) {
mydoJob.setExecutionPhase("8");
mydoJobService.updateMydoJob(mydoJob);
}
}
wcsSrgvQueue.setExecutionStatus("4");
wcsSrgvQueue.setUpdateTime(DateUtil.date());
wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
wcsSrgvQueueService.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSrgvQueueService.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
}
}
}
}
/**
* 小车发送任务
*/
private void sendTask(DeviceSrgv deviceSrgv) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setIssued("0");
param.setAgvId(deviceSrgv.getDeviceId().toString());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param);
if (CollUtil.isEmpty(wcsSrgvQueues)) {
return;
}
for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
String agvId = wcsSrgvQueue.getAgvId();
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) {
String endSite = wcsSrgvQueue.getEndSite();
String currSite = deviceSrgv.getCurrSite();
//判断是否可以下发任务
if ("0".equals(wcsSrgvQueue.getIssued())) {
sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite);
}
}
}
}
/**
* 小车发送点对点任务
*/
private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite) {
Integer floor = deviceSrgv.getCurrFloor();
//获取当前地图
Map<String, WcsSrgvMap> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
//处理地图
int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv);
//计算最短路径
List<int[]> shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite).getX(), arrByRoadSite.get(startSite).getY(), arrByRoadSite.get(endSite).getX(), arrByRoadSite.get(endSite).getY());
//判断是否能规划出最短路径
if (shortestPath == null || shortestPath.isEmpty()) {
log.error("无法到达指定位置");
return;
}
//获取拐点路径
List<int[]> trun = PathFinder.extractInflectionPoints2(shortestPath);
// 路径点拼接
StringBuilder pathBuilder = new StringBuilder();
if (!shortestPath.isEmpty()) {
for (int[] ints : shortestPath) {
WcsSrgvMap roadSiteByArr = roadCacheService.selectRoadSiteByArr(ints[0], ints[1], floor);
if (roadSiteByArr == null) {
log.error("无此站点 x y z :{},{},{}", ints[0], ints[1], floor);
throw new RuntimeException("点位信息错误");
}
String site = roadSiteByArr.getSiteId();
pathBuilder.append(site).append(",");
}
}
// 拐点拼接
StringBuilder turnBuilder = new StringBuilder();
if (!trun.isEmpty()) {
for (int[] ints : trun) {
WcsSrgvMap roadSiteByArr = roadCacheService.selectRoadSiteByArr(ints[0], ints[1], floor);
if (roadSiteByArr == null) {
log.error("无此站点 x y z :{},{},{}", ints[0], ints[1], floor);
throw new RuntimeException("点位信息错误");
}
String site = roadSiteByArr.getSiteId();
turnBuilder.append(site).append(",");
}
if (turnBuilder.length() > 0) {
turnBuilder.setLength(turnBuilder.length() - 1);
}
// 当trun长度小于6时，后面用0拼接
if (trun.size() < 6) {
for (int i = trun.size(); i < 6; i++) {
turnBuilder.append(",0");
}
}
}
List<SendData2> sendDataList = new ArrayList<>();
if (!trun.isEmpty()) {
SendData2 path = new SendData2();
path.setAddress("4000");//地址
path.setData(startSite + "," + endSite + "," + turnBuilder);
path.setType(2);
sendDataList.add(path);
} else {
SendData2 path = new SendData2();
path.setAddress("4000");//地址
path.setData(startSite + "," + endSite);
path.setType(2);
sendDataList.add(path);
}
//任务号、原、目标数据转换
String siteId = wcsSrgvQueue.getTaskNo() + "1";//+ "," + startSite + "," + endSite;
SendData2 site = new SendData2();
site.setAddress("4400");
site.setData(siteId);
site.setType(2);
sendDataList.add(site);
//任务类型转换
SendData2 taskType = new SendData2();
taskType.setAddress("2200");
taskType.setData(wcsSrgvQueue.getTaskType());
taskType.setType(1);
sendDataList.add(taskType);
//下发标志转换
SendData2 flag = new SendData2();
flag.setAddress("2202");
flag.setData("1");
flag.setType(1);
sendDataList.add(flag);
//下发数据
boolean b = sendCarTask(sendDataList, deviceSrgv);
if (b) {
wcsSrgvQueue.setPathInfo(pathBuilder.toString());
wcsSrgvQueue.setTrunPath(turnBuilder.toString());
wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue);
} else {
log.error("小车下发失败 taskNo:{}", wcsSrgvQueue.getTaskNo());
}
}
/**
* 小车发送任务
*/
private boolean sendCarTask(List<SendData2> sendDataList, DeviceSrgv deviceSrgv) {
boolean b = true;
for (SendData2 sendData : sendDataList) {
String address = sendData.getAddress();
String data = sendData.getData();//
String[] split = data.split(",");
int type = sendData.getType();//1单字 2双字 3字符串
//双字
if (type == 2) {
int[] intData = Arrays.stream(split).map(String::trim).mapToInt(Integer::parseInt).toArray();
boolean write = true;//PlcSrgvRead.Write(address, intData);
if (!write) {
b = false;
break;
}
}
//单字
if (type == 1) {
//String[]转为 short[]
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) {
// 记录日志并设置默认值
shortData[i] = 0;
}
}
boolean write = true;//PlcSrgvRead.Write(address, shortData);
if (!write) {
b = false;
break;
}
}
}
String collect = sendDataList.stream().map(li -> "{" + li.getAddress() + ":" + li.getData() + "}").collect(Collectors.joining(","));
log.info("小车：" + deviceSrgv.getDeviceId() + ",下发值：" + collect + ",,结果：" + b);
return b;
}
}

84
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
View File

@@ -124,44 +124,58 @@ public class SsjThread implements Runnable {
}
void inDispatch1(DeviceSsj deviceSsj) {
if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode().trim())) {
//todo 查是否为入库模式，不是退回，是否超重
HashMap<String, Object> map = new HashMap<>();
map.put("trayCode", deviceSsj.getTrayCode());
//拉取
AjaxResult ajaxResult = apiService.createInMydoJob(map);
if (ajaxResult.isSuccess()) {
//拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号
MydoJob mydoJob = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
mydoJob.setStatus("1");
mydoJob.setExecutionPhase("1");
mydoJob.setCreateTime(new Date());
mydoJob.setTheFloor(mydoJob.getClassId());
if ("GS1002".equals(deviceSsj.getDeviceCode())) {
mydoJob.setEntranceId("L1004");
if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode().trim()) ) {
String trayCode = deviceSsj.getTrayCode().trim();
MydoJob getMydoJob = mydoJobService.selectMydoJobByTrayCode(trayCode);
if (getMydoJob!=null && deviceSsj.getTaskNo()<1000){
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), getMydoJob.getTaskNo(), 1, 1);
if (i == 1) {
getMydoJob.setStatus("3");
mydoJobService.updateMydoJob(getMydoJob);
log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", getMydoJob.getTaskNo());
}
}else {
//todo 查是否为入库模式，不是退回，是否超重
HashMap<String, Object> map = new HashMap<>();
map.put("trayCode", deviceSsj.getTrayCode());
//拉取
AjaxResult ajaxResult = apiService.createInMydoJob(map);
if (ajaxResult.isSuccess()) {
//拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号
MydoJob mydoJob = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class);
mydoJob.setStatus("1");
mydoJob.setExecutionPhase("1");
mydoJob.setCreateTime(new Date());
mydoJob.setTheFloor(mydoJob.getClassId());
mydoJob.setTrayCode(trayCode);
if ("GS1002".equals(deviceSsj.getDeviceCode())) {
mydoJob.setEntranceId("L1004");
} else {
mydoJob.setEntranceId("L1005");
}
// 插入入库作业，并且根据作业直接下发 ，下发完毕直接修改执行阶段
MydoJob mydoJob1 = new MydoJob();
mydoJob1.setTaskNo(mydoJob.getTaskNo());
mydoJob1.setTrayCode(mydoJob.getTrayCode());
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
if (mydoJobs.size() > 0) {
return;
}
mydoJobService.insertMydoJob(mydoJob);
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
if (i == 1) {
mydoJob.setStatus("3");
mydoJobService.updateMydoJob(mydoJob);
log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
}
} else {
mydoJob.setEntranceId("L1005");
}
// 插入入库作业，并且根据作业直接下发 ，下发完毕直接修改执行阶段
MydoJob mydoJob1 = new MydoJob();
mydoJob1.setTaskNo(mydoJob.getTaskNo());
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob1);
if (mydoJobs.size() > 0) {
return;
}
mydoJobService.insertMydoJob(mydoJob);
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
if (i == 1) {
mydoJob.setStatus("3");
mydoJobService.updateMydoJob(mydoJob);
log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
}
} else {
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
if (i == 1) {
log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2 条码"+deviceSsj.getTrayCode());
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2);
if (i == 1) {
log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2 条码" + deviceSsj.getTrayCode());
}
}
}
}
}

5
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
View File

@@ -117,7 +117,7 @@ public class TsjThread implements Runnable {
private void createSRgvQueueTsjQd(Long rwh, DeviceTsj tsj) {
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
if ((deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) ||deviceSrgv.getCurrSite().equals("10050" + deviceSrgv.getCurrFloor()))&& deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 2 && tsj.getHczt() == 1) {
if ((deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) || deviceSrgv.getCurrSite().equals("10050" + deviceSrgv.getCurrFloor())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getStatus() == 2 && tsj.getHczt() == 1) {
SendData rwlxSendData = new SendData(Tools.INT, 1);
DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(1));
byte[] bytes = Tools.sendData(rwlxSendData);
@@ -208,7 +208,8 @@ public class TsjThread implements Runnable {
private void createQueue(DeviceTsj tsj) {
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0) {
Integer count = tsjDeviceExecutionQueueService.selectCount();
if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0 && count == 0) {
//请求进入输送机
WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));

4
ruoyi-admin/src/main/resources/application-druid.yml
View File

@@ -6,9 +6,9 @@ spring:
druid:
#主数据信息
master:
url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-WCS;
url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-wcs;
username: sa
password: 123456
password: Flrd0914.
# 从库数据源
slave:
# 从数据源开关/默认关闭

4
ruoyi-admin/src/main/resources/application.yml
View File

@@ -34,7 +34,7 @@ server:
# 日志配置
logging:
level:
com.ruoyi: debug
com.ruoyi: info
org.springframework: warn
# 用户配置
@@ -64,7 +64,7 @@ spring:
devtools:
restart:
# 热部署开关
enabled: true
enabled: false
# redis 配置
redis:
# 地址

71
ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml
View File

@@ -25,13 +25,14 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<result property="theFloor" column="the_floor" />
<result property="productId" column="product_id" />
<result property="productName" column="product_name" />
<result property="trayCode" column="tray_code" />
</resultMap>
<sql id="selectMydoJobVo">
select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name from mydo_job_wcs
select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name,tray_code from mydo_job_wcs
</sql>
<sql id="selectMydoJobFinishVo">
select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor from mydo_job_wcs_finish
select job_id, status, task_no, roadway_id, cargo_space_id, target_roadway_id, target_cargo_space_id, priority, execution_phase, in_or_out, create_time, start_time, finish_time, entrance_id, exit_id, warehouse_id, fault_flag,the_floor,product_id,product_name,tray_code from mydo_job_wcs_finish
</sql>
<select id="selectMydoJobList" parameterType="MydoJob" resultMap="MydoJobResult">
@@ -55,6 +56,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="theFloor != null and theFloor != ''"> and the_floor = #{theFloor}</if>
<if test="productId != null and productId != ''"> and product_id = #{productId}</if>
<if test="productName != null and productName != ''"> and product_name = #{productName}</if>
<if test="trayCode != null and trayCode != ''"> and tray_code = #{trayCode}</if>
</where>
</select>
@@ -118,6 +120,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="warehouseId != null">warehouse_id,</if>
<if test="faultFlag != null">fault_flag,</if>
<if test="theFloor != null">the_floor,</if>
<if test="trayCode != null">tray_code,</if>
</trim>
<trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="jobId != null">#{jobId},</if>
@@ -138,6 +141,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<if test="warehouseId != null">#{warehouseId},</if>
<if test="faultFlag != null">#{faultFlag},</if>
<if test="theFloor != null">#{theFloor},</if>
<if test="trayCode != null">#{trayCode},</if>
</trim>
</insert>
<insert id="insertHistory">
@@ -244,4 +248,67 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
and status = 3
order by priority desc,create_time
</select>
<select id="selectMydoJobOut" resultMap="MydoJobResult">
WITH floor_group AS (
SELECT
b.cargo_space_id,
b.group_coding_no,
b.the_floor,
b.group_coding,
a.task_no AS task_no,
a.job_id AS job_id,
a.in_or_out, -- 之前新增的字段
a.target_cargo_space_id, -- 新增字段：加入target_cargo_space_id
ROW_NUMBER() OVER (PARTITION BY b.the_floor ORDER BY b.group_coding DESC) AS rn
FROM
mydo_job_wcs a
INNER JOIN bas_cargo_space b
ON a.cargo_space_id = b.cargo_space_id
AND a.the_floor = b.the_floor
WHERE
a.in_or_out >= 20
AND a.status = '1'
GROUP BY
b.group_coding_no,
b.cargo_space_id,
b.the_floor,
b.group_coding,
a.task_no,
a.job_id,
a.create_time,
a.in_or_out, -- 之前新增的分组字段
a.target_cargo_space_id -- 分组字段中新增：必须加入GROUP BY
)
SELECT
cargo_space_id,
group_coding_no,
the_floor,
task_no,
job_id,
in_or_out, -- 之前新增的展示字段
target_cargo_space_id -- 最终查询结果中显示该字段
FROM
floor_group
WHERE
rn &lt;= 2
ORDER BY
group_coding DESC;
</select>
<select id="selectMydoJobByTrayCode" resultMap="MydoJobResult">
<include refid="selectMydoJobVo"/>
where tray_code =#{trayCode}
</select>
<select id="selectExit" parameterType="string" resultType="java.lang.Integer">
select count(1) from mydo_job_wcs where in_or_out>=20 and exit_id = #{exitId}
</select>
<select id="selectMydoJobCount" resultType="java.lang.Integer">
select count(1) from mydo_job_wcs
</select>
</mapper>

7
ruoyi-admin/src/main/resources/mapper/queue/TsjDeviceExecutionQueueMapper.xml
View File

@@ -121,6 +121,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
</trim>
</insert>
<select id="selectCount" resultType="java.lang.Integer">
select count(1)
from tsj_device_execution_queue
</select>
<update id="updateTsjDeviceExecutionQueue" parameterType="TsjDeviceExecutionQueue">
update tsj_device_execution_queue
<trim prefix="SET" suffixOverrides=",">

7
ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml
View File

@@ -212,4 +212,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
</choose>
</select>
<select id="selectTsj" resultType="java.lang.Integer" >
select count(1) from wcs_srgv_queue where end_site='tsj'
</select>
</mapper>