diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/charg/controller/SrgvChargingJobController.java b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/controller/SrgvChargingJobController.java new file mode 100644 index 0000000..e3a02d3 --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/controller/SrgvChargingJobController.java @@ -0,0 +1,104 @@ +package com.ruoyi.job.charg.controller; + +import java.util.List; +import javax.servlet.http.HttpServletResponse; +import org.springframework.security.access.prepost.PreAuthorize; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.PutMapping; +import org.springframework.web.bind.annotation.DeleteMapping; +import org.springframework.web.bind.annotation.PathVariable; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; +import com.ruoyi.common.annotation.Log; +import com.ruoyi.common.core.controller.BaseController; +import com.ruoyi.common.core.domain.AjaxResult; +import com.ruoyi.common.enums.BusinessType; +import com.ruoyi.job.charg.domain.SrgvChargingJob; +import com.ruoyi.job.charg.service.ISrgvChargingJobService; +import com.ruoyi.common.utils.poi.ExcelUtil; +import com.ruoyi.common.core.page.TableDataInfo; + +/** + * 充电任务Controller + * + * @author ruoyi + * @date 2025-11-21 + */ +@RestController +@RequestMapping("/job/charging") +public class SrgvChargingJobController extends BaseController +{ + @Autowired + private ISrgvChargingJobService srgvChargingJobService; + + /** + * 查询充电任务列表 + */ + @PreAuthorize("@ss.hasPermi('job:charging:list')") + @GetMapping("/list") + public TableDataInfo list(SrgvChargingJob srgvChargingJob) + { + startPage(); + List list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob); + return getDataTable(list); + } + + /** + * 导出充电任务列表 + */ + @PreAuthorize("@ss.hasPermi('job:charging:export')") + @Log(title = "充电任务", businessType = BusinessType.EXPORT) + @PostMapping("/export") + public void export(HttpServletResponse response, SrgvChargingJob srgvChargingJob) + { + List list = srgvChargingJobService.selectSrgvChargingJobList(srgvChargingJob); + ExcelUtil util = new ExcelUtil(SrgvChargingJob.class); + util.exportExcel(response, list, "充电任务数据"); + } + + /** + * 获取充电任务详细信息 + */ + @PreAuthorize("@ss.hasPermi('job:charging:query')") + @GetMapping(value = "/{guid}") + public AjaxResult getInfo(@PathVariable("guid") String guid) + { + return success(srgvChargingJobService.selectSrgvChargingJobByGuid(guid)); + } + + /** + * 新增充电任务 + */ + @PreAuthorize("@ss.hasPermi('job:charging:add')") + @Log(title = "充电任务", businessType = BusinessType.INSERT) + @PostMapping + public AjaxResult add(@RequestBody SrgvChargingJob srgvChargingJob) + { + return toAjax(srgvChargingJobService.insertSrgvChargingJob(srgvChargingJob)); + } + + /** + * 修改充电任务 + */ + @PreAuthorize("@ss.hasPermi('job:charging:edit')") + @Log(title = "充电任务", businessType = BusinessType.UPDATE) + @PutMapping + public AjaxResult edit(@RequestBody SrgvChargingJob srgvChargingJob) + { + return toAjax(srgvChargingJobService.updateSrgvChargingJob(srgvChargingJob)); + } + + /** + * 删除充电任务 + */ + @PreAuthorize("@ss.hasPermi('job:charging:remove')") + @Log(title = "充电任务", businessType = BusinessType.DELETE) + @DeleteMapping("/{guids}") + public AjaxResult remove(@PathVariable String[] guids) + { + return toAjax(srgvChargingJobService.deleteSrgvChargingJobByGuids(guids)); + } +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/charg/domain/SrgvChargingJob.java b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/domain/SrgvChargingJob.java new file mode 100644 index 0000000..ec8dfe5 --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/domain/SrgvChargingJob.java @@ -0,0 +1,157 @@ +package com.ruoyi.job.charg.domain; + +import org.apache.commons.lang3.builder.ToStringBuilder; +import org.apache.commons.lang3.builder.ToStringStyle; +import com.ruoyi.common.annotation.Excel; +import com.ruoyi.common.core.domain.BaseEntity; + +/** + * 充电任务对象 srgv_charging_job + * + * @author ruoyi + * @date 2025-11-21 + */ +public class SrgvChargingJob extends BaseEntity +{ + private static final long serialVersionUID = 1L; + + /** uuid */ + private String guid; + + /** 充电桩站点 */ + @Excel(name = "充电桩站点") + private String chargingSite; + + /** 任务状态：1初始；2允许生成四向车；3执行中 */ + @Excel(name = "任务状态：1初始；2允许生成四向车；3执行中") + private String jobStatus; + + /** 充电状态：1未充电；2充电中 */ + @Excel(name = "充电状态：1未充电；2充电中") + private String chargingStatus; + + /** 开始时间 */ + @Excel(name = "开始时间") + private String startDate; + + /** 充电时间 */ + @Excel(name = "充电时间") + private String chargingDate; + + /** 任务类型：1去充电；2离开充电 */ + @Excel(name = "任务类型：1去充电；2离开充电") + private String jobType; + + /** 执行小车 */ + @Excel(name = "执行小车") + private String agvId; + + /** 充电桩编号 */ + @Excel(name = "充电桩编号") + private String chargingId; + + public void setGuid(String guid) + { + this.guid = guid; + } + + public String getGuid() + { + return guid; + } + + public void setChargingSite(String chargingSite) + { + this.chargingSite = chargingSite; + } + + public String getChargingSite() + { + return chargingSite; + } + + public void setJobStatus(String jobStatus) + { + this.jobStatus = jobStatus; + } + + public String getJobStatus() + { + return jobStatus; + } + + public void setChargingStatus(String chargingStatus) + { + this.chargingStatus = chargingStatus; + } + + public String getChargingStatus() + { + return chargingStatus; + } + + public void setStartDate(String startDate) + { + this.startDate = startDate; + } + + public String getStartDate() + { + return startDate; + } + + public void setChargingDate(String chargingDate) + { + this.chargingDate = chargingDate; + } + + public String getChargingDate() + { + return chargingDate; + } + + public void setJobType(String jobType) + { + this.jobType = jobType; + } + + public String getJobType() + { + return jobType; + } + + public void setAgvId(String agvId) + { + this.agvId = agvId; + } + + public String getAgvId() + { + return agvId; + } + + public void setChargingId(String chargingId) + { + this.chargingId = chargingId; + } + + public String getChargingId() + { + return chargingId; + } + + @Override + public String toString() { + return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE) + .append("guid", getGuid()) + .append("chargingSite", getChargingSite()) + .append("jobStatus", getJobStatus()) + .append("chargingStatus", getChargingStatus()) + .append("startDate", getStartDate()) + .append("chargingDate", getChargingDate()) + .append("jobType", getJobType()) + .append("agvId", getAgvId()) + .append("chargingId", getChargingId()) + .toString(); + } +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/charg/mapper/SrgvChargingJobMapper.java b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/mapper/SrgvChargingJobMapper.java new file mode 100644 index 0000000..162c13c --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/mapper/SrgvChargingJobMapper.java @@ -0,0 +1,61 @@ +package com.ruoyi.job.charg.mapper; + +import java.util.List; +import com.ruoyi.job.charg.domain.SrgvChargingJob; + +/** + * 充电任务Mapper接口 + * + * @author ruoyi + * @date 2025-11-21 + */ +public interface SrgvChargingJobMapper +{ + /** + * 查询充电任务 + * + * @param guid 充电任务主键 + * @return 充电任务 + */ + public SrgvChargingJob selectSrgvChargingJobByGuid(String guid); + + /** + * 查询充电任务列表 + * + * @param srgvChargingJob 充电任务 + * @return 充电任务集合 + */ + public List selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob); + + /** + * 新增充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob); + + /** + * 修改充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob); + + /** + * 删除充电任务 + * + * @param guid 充电任务主键 + * @return 结果 + */ + public int deleteSrgvChargingJobByGuid(String guid); + + /** + * 批量删除充电任务 + * + * @param guids 需要删除的数据主键集合 + * @return 结果 + */ + public int deleteSrgvChargingJobByGuids(String[] guids); +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/ISrgvChargingJobService.java b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/ISrgvChargingJobService.java new file mode 100644 index 0000000..ad59f5c --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/ISrgvChargingJobService.java @@ -0,0 +1,61 @@ +package com.ruoyi.job.charg.service; + +import java.util.List; +import com.ruoyi.job.charg.domain.SrgvChargingJob; + +/** + * 充电任务Service接口 + * + * @author ruoyi + * @date 2025-11-21 + */ +public interface ISrgvChargingJobService +{ + /** + * 查询充电任务 + * + * @param guid 充电任务主键 + * @return 充电任务 + */ + public SrgvChargingJob selectSrgvChargingJobByGuid(String guid); + + /** + * 查询充电任务列表 + * + * @param srgvChargingJob 充电任务 + * @return 充电任务集合 + */ + public List selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob); + + /** + * 新增充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob); + + /** + * 修改充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob); + + /** + * 批量删除充电任务 + * + * @param guids 需要删除的充电任务主键集合 + * @return 结果 + */ + public int deleteSrgvChargingJobByGuids(String[] guids); + + /** + * 删除充电任务信息 + * + * @param guid 充电任务主键 + * @return 结果 + */ + public int deleteSrgvChargingJobByGuid(String guid); +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/impl/SrgvChargingJobServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/impl/SrgvChargingJobServiceImpl.java new file mode 100644 index 0000000..2d0710f --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/charg/service/impl/SrgvChargingJobServiceImpl.java @@ -0,0 +1,93 @@ +package com.ruoyi.job.charg.service.impl; + +import java.util.List; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; +import com.ruoyi.job.charg.mapper.SrgvChargingJobMapper; +import com.ruoyi.job.charg.domain.SrgvChargingJob; +import com.ruoyi.job.charg.service.ISrgvChargingJobService; + +/** + * 充电任务Service业务层处理 + * + * @author ruoyi + * @date 2025-11-21 + */ +@Service +public class SrgvChargingJobServiceImpl implements ISrgvChargingJobService +{ + @Autowired + private SrgvChargingJobMapper srgvChargingJobMapper; + + /** + * 查询充电任务 + * + * @param guid 充电任务主键 + * @return 充电任务 + */ + @Override + public SrgvChargingJob selectSrgvChargingJobByGuid(String guid) + { + return srgvChargingJobMapper.selectSrgvChargingJobByGuid(guid); + } + + /** + * 查询充电任务列表 + * + * @param srgvChargingJob 充电任务 + * @return 充电任务 + */ + @Override + public List selectSrgvChargingJobList(SrgvChargingJob srgvChargingJob) + { + return srgvChargingJobMapper.selectSrgvChargingJobList(srgvChargingJob); + } + + /** + * 新增充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + @Override + public int insertSrgvChargingJob(SrgvChargingJob srgvChargingJob) + { + return srgvChargingJobMapper.insertSrgvChargingJob(srgvChargingJob); + } + + /** + * 修改充电任务 + * + * @param srgvChargingJob 充电任务 + * @return 结果 + */ + @Override + public int updateSrgvChargingJob(SrgvChargingJob srgvChargingJob) + { + return srgvChargingJobMapper.updateSrgvChargingJob(srgvChargingJob); + } + + /** + * 批量删除充电任务 + * + * @param guids 需要删除的充电任务主键 + * @return 结果 + */ + @Override + public int deleteSrgvChargingJobByGuids(String[] guids) + { + return srgvChargingJobMapper.deleteSrgvChargingJobByGuids(guids); + } + + /** + * 删除充电任务信息 + * + * @param guid 充电任务主键 + * @return 结果 + */ + @Override + public int deleteSrgvChargingJobByGuid(String guid) + { + return srgvChargingJobMapper.deleteSrgvChargingJobByGuid(guid); + } +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java index a97b8b3..bd9164b 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java @@ -4,12 +4,15 @@ import cn.hutool.core.bean.BeanUtil; 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.domain.WcsPort; import com.ruoyi.bas.port.service.IWcsPortService; import com.ruoyi.common.domain.SendData2; import com.ruoyi.device.srgv.domain.DeviceSrgv; +import com.ruoyi.job.charg.domain.SrgvChargingJob; +import com.ruoyi.job.charg.service.ISrgvChargingJobService; import com.ruoyi.queue.srgv.domain.WcsSrgvQueue; import com.ruoyi.queue.srgv.domain.WcsSrgvQueueFinish; import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService; @@ -34,6 +37,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { public IWcsPortService wcsPortService; + public ISrgvChargingJobService srgvChargingJobMapper; + public void init() { @@ -93,13 +98,161 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { * 小车离开充电桩 */ private void outCharging(DeviceSrgv deviceSrgv, int floor) { + SrgvChargingJob wcsChargingJob = new SrgvChargingJob(); + wcsChargingJob.setJobType("2");//离开充电 + //wcsChargingJob.setChargingStatus("0");//未接通 + List wcsChargingJobs = wcsChargingJobMapper.selectWcsChargingJobList(wcsChargingJob); + for (SrgvChargingJob chargingJob : wcsChargingJobs) { + String chargingStatus = chargingJob.getChargingStatus(); + + String agvId = chargingJob.getAgvId(); + String chargingSite = chargingJob.getChargingSite();//充电桩站点 + + String startDate = chargingJob.getStartDate(); + + List rgvs = srgvPlcs.stream().filter(srgv -> Objects.equals(srgv.getAgvData().getAgvId(), agvId) && srgv.getAgvData().getStatus() != 3).collect(Collectors.toList()); + if ("1".equals(chargingStatus)) { + if (rgvs.size() > 0) { + SRGVPlc srgvPlc = rgvs.get(0); + String currSite = srgvPlc.getAgvData().getCurrSite(); + if (!Objects.equals(currSite, chargingSite)) { + wcsChargingJobMapper.deleteWcsChargingJobByGuid(chargingJob.getGuid());//删除任务 + } + + } else { + //删除 + } + continue; + } + + + //是否已经有任务 + WcsSrgvQueue wcsSagvQueue = new WcsSrgvQueue(); + wcsSagvQueue.setAgvId(agvId); + List wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSagvQueue); + if (wcsSagvQueues.size() > 0) { + + //时间大于30分钟，可以删除 + boolean overHalfHour = TimeCompareUtil.isOverHalfHour(startDate, 30); + if (overHalfHour) { + wcsChargingJobMapper.deleteWcsChargingJobByGuid(chargingJob.getGuid());//删除任务 + } + + + continue; + } + + + + String currSite = deviceSrgv.getCurrSite(); + + String endSite = null; + + if (!Objects.equals(currSite, chargingSite)) { + //已经在等待点 + srgvChargingJobMapper.deleteSrgvChargingJobByGuid(chargingJob.getGuid());//删除任务 + } + + + + + //获取所有待机点 + List collect = waitManager.listWcsFreeWait(floor).stream().map(wf -> wf.getSiteAddress()).collect(Collectors.toList()); + + //agv不在当前站点,不在待机点添加 + if (endSite != null && !Objects.equals(currSite, endSite) && !collect.contains(currSite)) { + + //生成去充电的任务 + WcsSrgvQueue wsq = new WcsSrgvQueue(); + wsq.setGuid(IdUtil.fastSimpleUUID()); + + /* HashMap map = new HashMap<>(); + map.put("type", "10"); + wcsIdMapper.getTask(map); + String taskNo = map.get("result");*/ + + wsq.setTaskNo(""); + wsq.setTaskType("1"); + wsq.setPriority(10L); + wsq.setCargo("2"); + wsq.setIssued("0"); + wsq.setPathInfo(null); + wsq.setExecutionStatus("1"); + wsq.setCargoPickSite(currSite); + wsq.setCargoPlaceSite(endSite); + wsq.setStartSite(currSite); + wsq.setEndSite(endSite); + wsq.setTheFloor(floor + ""); + wsq.setTrunPath(null); + wsq.setUpDownSite(currSite); + wsq.setCreateDate(DateUtil.now()); + wsq.setDefault06(chargingJob.getGuid()); + + wsq.setAgvId(agvId); + wsq.setDefault02("4");//点到点任务 + + wcsSagvQueueMapper.insertWcsSrgvQueue(wsq); + + + } + + } } /** * 小车充电任务 */ private void inCharging(DeviceSrgv deviceSrgv, int floor) { + SrgvChargingJob wcsChargingJob = new SrgvChargingJob(); + wcsChargingJob.setJobType("1");//去充电任务 + wcsChargingJob.setJobStatus("1"); + //wcsChargingJob.setChargingStatus("1");//未接通 + List wcsChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(wcsChargingJob); + for (SrgvChargingJob chargingJob : wcsChargingJobs) { + String agvId = chargingJob.getAgvId(); + String chargingSite = chargingJob.getChargingSite();//充电桩站点 + + String currSite = deviceSrgv.getCurrSite(); + if (!Objects.equals(currSite, chargingSite)) { + //是否已经有任务 + WcsSrgvQueue wcsSagvQueue = new WcsSrgvQueue(); + wcsSagvQueue.setAgvId(agvId); + List wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSagvQueue); + if (wcsSagvQueues.size() == 0) { + //生成去充电的任务 + WcsSrgvQueue wsq = new WcsSrgvQueue(); + wsq.setGuid(IdUtil.fastSimpleUUID()); + + /*HashMap map = new HashMap<>(); + map.put("type", "6"); + wcsIdMapper.getTask(map); + String taskNo = map.get("result");*/ + + wsq.setTaskNo(""); + wsq.setTaskType("1"); + wsq.setPriority(10L); + wsq.setCargo("2"); + wsq.setIssued("0"); + wsq.setPathInfo(null); + wsq.setExecutionStatus("1"); + wsq.setCargoPickSite(currSite); + wsq.setCargoPlaceSite(chargingSite); + wsq.setStartSite(currSite); + wsq.setEndSite(chargingSite); + wsq.setTheFloor(floor + ""); + wsq.setTrunPath(null); + wsq.setUpDownSite(currSite); + wsq.setCreateDate(DateUtil.now()); + wsq.setDefault06(chargingJob.getGuid()); + + wsq.setAgvId(agvId); + wsq.setDefault02("3");//3充电 + + wcsSagvQueueMapper.insertWcsSrgvQueue(wsq); + } + } + } } /** * 小车发送任务 @@ -162,7 +315,96 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { /** * 小车发送点对点任务 */ - private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String currSite, String startSite, int floor) { + private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite, int floor) { + //获取当前地图 + Map arrByRoadSite = roadCacheService.getArrByRoadSite(floor); + + //获取空载地图 + int[][] emptyMap = roadCacheService.findEmptyMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc); + //计算最短路径 + List shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1]); + + //判断是否能规划出最短路径 + if (shortestPath == null || shortestPath.isEmpty()) { + return; + } + + //获取拐点路径 + List trun = PathFinder.extractInflectionPoints2(shortestPath, emptyMap); + + // 路径点拼接 + StringBuilder pathBuilder = new StringBuilder(); + Map roadSiteByArr = roadCacheService.getRoadSiteByArr(floor); + for (int[] point : shortestPath) { + String site = roadSiteByArr.get(point[0] + "," + point[1]); + if (!"000".equals(site)) { + pathBuilder.append(site).append(","); + } + + } + if (pathBuilder.length() > 0) { + pathBuilder.setLength(pathBuilder.length() - 1); // 移除最后一个逗号 + } + + // 拐点拼接 + StringBuilder inflectionBuilder = new StringBuilder(); + if (!trun.isEmpty()) { + for (int[] ints : trun) { + String site = roadSiteByArr.get(ints[0] + "," + ints[1]);//获取站点 + inflectionBuilder.append(site).append(","); + } + if (inflectionBuilder.length() > 0) { + inflectionBuilder.setLength(inflectionBuilder.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++) { + inflectionBuilder.append(",0"); + } + } + } + + List sendDataList = new ArrayList<>(); + if (!trun.isEmpty()) { + SendData2 path = new SendData2(); + path.setAddress("4000");//地址 + path.setData(startSite + "," + endSite + "," + inflectionBuilder.toString()); + 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); + } /** @@ -190,10 +432,157 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { /** * 小车发送载货任务 */ - private boolean sendFullCarTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String currSite, String endSite) { + private boolean sendFullCarTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite, int floor) { + + //0 待机 1去向原站 2 到达原站托盘定位 3 上升至中位顶取货物 4生成去向目标站路径 + // 5去向目标站 6下降至低位放货,工作完成，将阶段设置为0. 20：执行点到点命令运行中 21：到达点到目标位置 22：小车充电中 + int workPhase = deviceSrgv.getWorkPhase(); + int status = deviceSrgv.getStatus();// 0：未知 1：待机 2：运行 3：报警 + int workMode = deviceSrgv.getWorkMode(); + + + //取货规划路径和下发，在货底下，并且待机，任务未被下发 + if ((workPhase == 0) && status == 1 && workMode == 5) { + //查找载货路径 + Map arrByRoadSite = roadCacheService.getArrByRoadSite(floor); + //获取空载地图(剔除不包含自己的障碍)(250919,排除其他站点) + + String noTar0 = null; + String noTar1 = null; + + if ("3".equals(wcsSrgvQueue.getCargo())) { + noTar0 = getNoTar(startSite); + noTar1 = getNoTar(endSite); + } else if ("1".equals(wcsSrgvQueue.getCargo())) { + noTar1 = getNoTar(endSite); + } else if ("2".equals(wcsSrgvQueue.getCargo())) { + noTar0 = getNoTar(startSite); + } + + + int[][] fullMap = null; + if (noTar0 == null && noTar1 == null) { + fullMap = roadCacheService.findFullMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc); + } else { + List strings = new ArrayList<>();//排除站点 + if (noTar0 != null) { + strings.add(noTar0); + } + if (noTar1 != null) { + strings.add(noTar1); + } + + fullMap = roadCacheService.findFullMap(floor, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1], splc, strings); + } + + //计算最短路径 + List shortestPath = PathFinder.findShortestPathFrom2To2Or1(fullMap, arrByRoadSite.get(startSite)[0], arrByRoadSite.get(startSite)[1], arrByRoadSite.get(endSite)[0], arrByRoadSite.get(endSite)[1]); + //判断是否能规划出最短路径 + if (shortestPath == null || shortestPath.isEmpty()) { + //空车从当前点去目标点没有可以路径，校验是否是同层其他车影响，要上次其他车避让任务 + return false; + } + + //获取拐点路径 + List trun = PathFinder.extractInflectionPoints2(shortestPath, fullMap); + + // 路径点拼接 + StringBuilder pathBuilder = new StringBuilder(); + Map roadSiteByArr = roadCacheService.getRoadSiteByArr(Integer.parseInt(wcsSrgvQueue.getTheFloor())); + for (int[] point : shortestPath) { + String site = roadSiteByArr.get(point[0] + "," + point[1]); + if (!"000".equals(site)) { + pathBuilder.append(site).append(","); + } + } + if (pathBuilder.length() > 0) { + pathBuilder.setLength(pathBuilder.length() - 1); // 移除最后一个逗号 + } + + // 拐点拼接 + StringBuilder inflectionBuilder = new StringBuilder(); + if (!trun.isEmpty()) { + for (int[] ints : trun) { + String site = roadSiteByArr.get(ints[0] + "," + ints[1]);//获取站点 + inflectionBuilder.append(site).append(","); + } + if (inflectionBuilder.length() > 0) { + inflectionBuilder.setLength(inflectionBuilder.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++) { + inflectionBuilder.append(",0"); + } + } + } + + List sendDataList = new ArrayList<>(); + + + if (!trun.isEmpty()) { + SendData2 path = new SendData2(); + path.setAddress("4000");//地址 + path.setData(startSite + "," + endSite + "," + inflectionBuilder); + 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); + } + + + String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite; + SendData2 site = new SendData2(); + site.setAddress("4400"); + site.setData(siteId); + site.setType(2); + sendDataList.add(site); + //下发类型 + 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); + + //boolean write = true; + return sendCarTask(sendDataList, deviceSrgv); + } return false; } + /* + * 获取特俗区域的母通道排除站点 + * + * */ + private String getNoTar(String site) { + + String s = site.substring(site.length() - 4); + + String p = site.substring(0, 2); + int pi = Integer.parseInt(p); + + String l = site.substring(2, 4); + int li = Integer.parseInt(l);//排 + + String tarSite = null; + if (pi > 4 && pi < 15 && li > 30) { + tarSite = "16" + s; + } else { + + } + return tarSite; + } + /** * 小车发送空车任务 */ @@ -208,7 +597,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //判断是否能规划出最短路径 if (shortestPath == null || shortestPath.isEmpty()) { - return; + return false; } //获取拐点路径 @@ -216,7 +605,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { // 路径点拼接 StringBuilder pathBuilder = new StringBuilder(); - Map roadSiteByArr = roadCacheService.getRoadSiteByArr(Integer.parseInt(floor)); + Map roadSiteByArr = roadCacheService.getRoadSiteByArr(floor); for (int[] point : shortestPath) { String site = roadSiteByArr.get(point[0] + "," + point[1]); if (!"000".equals(site)) { diff --git a/ruoyi-admin/src/main/resources/mapper/job/SrgvChargingJobMapper.xml b/ruoyi-admin/src/main/resources/mapper/job/SrgvChargingJobMapper.xml new file mode 100644 index 0000000..b6b96da --- /dev/null +++ b/ruoyi-admin/src/main/resources/mapper/job/SrgvChargingJobMapper.xml @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + select guid, charging_site, job_status, charging_status, start_date, charging_date, job_type, agv_id, charging_id from srgv_charging_job + + + + + + + + insert into srgv_charging_job + + guid, + charging_site, + job_status, + charging_status, + start_date, + charging_date, + job_type, + agv_id, + charging_id, + + + #{guid}, + #{chargingSite}, + #{jobStatus}, + #{chargingStatus}, + #{startDate}, + #{chargingDate}, + #{jobType}, + #{agvId}, + #{chargingId}, + + + + + update srgv_charging_job + + charging_site = #{chargingSite}, + job_status = #{jobStatus}, + charging_status = #{chargingStatus}, + start_date = #{startDate}, + charging_date = #{chargingDate}, + job_type = #{jobType}, + agv_id = #{agvId}, + charging_id = #{chargingId}, + + where guid = #{guid} + + + + delete from srgv_charging_job where guid = #{guid} + + + + delete from srgv_charging_job where guid in + + #{guid} + + + \ No newline at end of file