输送线

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

@@ -23,6 +23,9 @@ import lombok.extern.slf4j.Slf4j;
 
 import java.util.*;
 import java.util.stream.Collectors;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Objects;
 
 @Slf4j
 public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
@@ -49,9 +52,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
 
         init();
         while (isRun) {
-            for (String type : sRgvCodeList.keySet()) {
+            for (String code : sRgvCodeList.keySet()) {
 
-                for (DeviceSrgv deviceSrgv : sRgvCodeList.get(type)) {
+                for (DeviceSrgv deviceSrgv : sRgvCodeList.get(code)) {
                     try {
                         if (ObjUtil.isNotNull(deviceSrgv)) {
                             //循环所有楼层
@@ -766,8 +769,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
     /**
      * 小车完成队列
      */
-    private void completeCarTask(DeviceSrgv deviceSrgv,int floor) {
+    private void completeCarTask(DeviceSrgv deviceSrgv, int floor) {
-        if (deviceSrgv.getWorkMode()==5){
+        //小车联机
+        if (deviceSrgv.getWorkMode() == 5) {
+
+            int agvId = deviceSrgv.getDeviceId();
+            String currSite = deviceSrgv.getCurrSite();
+            int status = deviceSrgv.getStatus();
             //22到达充电位置 23到达换层目标
             if (deviceSrgv.getStatus() == 1 || (deviceSrgv.getStatus() == 2 && (deviceSrgv.getWorkPhase() == 22 || deviceSrgv.getWorkPhase() == 23))) {
                 WcsSrgvQueue param = new WcsSrgvQueue();
@@ -812,14 +820,149 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * @return
      */
     private boolean finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue, int floor) {
-        if (currSite.equals(wcsSrgvQueue.getEndSite())){
+        int result = 0;
-            //当前在放货站点
+
-            WcsPort param = new WcsPort();
+        //当前在放货站点
-            param.setPortCode(currSite);
+        if(Objects.equals(currSite,wcsSrgvQueue.getEndSite())){
-            List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(param);
+            //如果，放货站点是提升机，记录提升机中转点
-            if (CollUtil.isNotEmpty(wcsPorts)){
+            WcsPort wcsPort=new WcsPort();
+            wcsPort.setSpare4(currSite);
+            List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
+            if(!wcsPorts.isEmpty()){
+               for(WcsPort wcsPort1:wcsPorts){
+                   //出库任务、移库出库任务
+                   WcsPort wcsPort2 = new WcsPort();
+                   wcsPort2.setId(wcsPort1.getId());
+                   wcsPort2.setStatus("1");//占用
+                   wcsPort2.setSpare1(wcsSrgvQueue.getTaskNo());//任务号
+                   wcsPort2.setSpare5("2");//出库 默认
+                   //换层移库的货
+                    if("11".equals(wcsSrgvQueue.getDefault05()) || "21".equals(wcsSrgvQueue.getDefault05())){
+                        //11代表换层移库的货
+                        wcsPort2.setSpare5("4");//换层
+//                        wcsPort2.setProductType("1");
+                    }
+                    if("12".equals(wcsSrgvQueue.getDefault05())){
+                        //12代表换层移库的托盘
+                        wcsPort2.setSpare5("4");//换层
+//                        wcsTransitPoint1.setProductType("2");
+                    }
+
+
+               }
 
             }
+
+//            WcsTransitPoint wcsTransitPoint = new WcsTransitPoint();
+//            wcsTransitPoint.setDeviceSite(currSite);
+//            List<WcsTransitPoint> wcsTransitPoints = transitPointMapper.selectWcsTransitPointList(wcsTransitPoint);
+//            if(wcsTransitPoints.size()>0){
+//
+//                for (WcsTransitPoint transitPoint : wcsTransitPoints) {
+//
+//                    //出库任务、移库出库任务
+//
+//                    WcsTransitPoint wcsTransitPoint1 = new WcsTransitPoint();
+//                    wcsTransitPoint1.setGuid(transitPoint.getGuid());
+//                    wcsTransitPoint1.setStatus("1");
+//                    wcsTransitPoint1.setTaskNo(sagvQueue.getTaskNo());
+//                    wcsTransitPoint1.setTaskType("2");//出库 默认
+//
+//                    //换层移库的货
+//                    if("11".equals(sagvQueue.getDefault05()) || "21".equals(sagvQueue.getDefault05())){
+//                        //11代表换层移库的货
+//                        wcsTransitPoint1.setTaskType("4");//换层
+//                        wcsTransitPoint1.setProductType("1");
+//                    }
+//                    if("12".equals(sagvQueue.getDefault05())){
+//                        //12代表换层移库的托盘
+//                        wcsTransitPoint1.setTaskType("4");//换层
+//                        wcsTransitPoint1.setProductType("2");
+//                    }
+//                    wcsTransitPoint1.setMsg("3");
+//                    int i = transitPointMapper.updateWcsTransitPoint(wcsTransitPoint1);
+//                    result = result+i;
+//                }
+//            }else {
+//
+//                String rgvTaskType = sagvQueue.getDefault02();//1入；2出；3充电；4点到点；7移库；8换层
+//                if(Objects.equals(rgvTaskType,"4")){
+//                    String default05 = sagvQueue.getDefault05();
+//                    //点到点任务处理
+//                    if((default05!=null) && !Objects.equals("13",default05)){
+//                        //生成新任务
+//                        WcsSagvQueue wsq = new WcsSagvQueue();
+//                        wsq.setGuid(IdUtil.fastSimpleUUID());
+//                        wsq.setTaskNo(sagvQueue.getDefault04());
+//                        wsq.setTaskType("2");//载货
+//                        wsq.setPriority(10);
+//                        wsq.setCargo("2");//出库
+//                        wsq.setIssued("0");
+//                        wsq.setPathInfo(null);
+//                        wsq.setExecutionStatus("1");
+//                        wsq.setCargoPickSite(sagvQueue.getCargoPickSite());
+//                        //String cargoPlaceSite = sagvQueue.getCargoPlaceSite();
+//                        //String tarEndSite = sagvQueue.getUpDownSite() != null ? sagvQueue.getUpDownSite() : cargoPlaceSite;
+//                        wsq.setCargoPlaceSite(sagvQueue.getCargoPlaceSite());
+//                        wsq.setStartSite(sagvQueue.getCargoPickSite());
+//                        wsq.setEndSite(sagvQueue.getCargoPlaceSite());
+//                        wsq.setTheFloor(floor+"");
+//                        wsq.setTrunPath(null);
+//                        wsq.setUpDownSite(sagvQueue.getCargoPlaceSite());
+//                        wsq.setCreateDate(DateUtil.now());
+//                        wsq.setAgvId(sagvQueue.getAgvId());
+//
+//                        String default051 = sagvQueue.getDefault05();
+//                        if("7".equals(default051)){
+//                            wsq.setCargo("3");//移库
+//                        }
+//                        wsq.setDefault02(default051);//2出库 7移库 4点到点
+//                        if("11".equals(default051) || "12".equals(default051)){
+//                            wsq.setDefault02("2");//出库
+//                            wsq.setDefault05(default051);
+//                        }
+//                        //判断取货站点是否是当前站点
+//
+//                        int i = wcsSagvQueueMapper.insertWcsSagvQueue(wsq);
+//                        result = result +i;
+//
+//                        //更新作业
+//                        WcsJob wcsJob = new WcsJob();
+//                        wcsJob.setTaskNo(sagvQueue.getDefault04());
+//                        wcsJob.setTaskStatus("2");//待执行的
+//                        wcsJob.setExePhase("21");//允许下发到wms
+//                        wcsJob.setStartDate(DateUtil.now());
+//                        wcsJobMapper.updateWcsJobByTask(wcsJob);
+//
+//                    }else if(Objects.equals("13",default05)){
+//                        //是车点到点，任务，删除作业
+//                        wcsJobMapper.deleteWcsJobByTask(sagvQueue.getTaskNo());
+//                        result = result+1;
+//                    }else{
+//                        result = result+1;
+//                    }
+
+//                }else {
+//                    //是入库、其他
+//                    WcsJob wcsJob = new WcsJob();
+//                    wcsJob.setTaskNo(sagvQueue.getTaskNo());
+//                    List<WcsJob> wcsJobs = wcsJobMapper.selectWcsJobList(wcsJob);
+//                    if(wcsJobs.size()>0){
+//                        //完成作业
+//                        for (WcsJob job : wcsJobs) {
+//                            WcsJob wcsJob1 = new WcsJob();
+//                            wcsJob1.setGuid(job.getGuid());
+//                            wcsJob1.setTaskStatus("4");
+//                            wcsJob1.setExePhase("21");//允许发送WMS
+//                            int i = wcsJobMapper.updateWcsJob(wcsJob1);
+//                            result = result+i;
+//                        }
+//                    }else {
+//                        result = result+1;
+//                    }
+//                }
+
+//            }
         }
         return false;
     }
@@ -829,11 +972,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
      * @param deviceSrgv
      */
     private void resQueue(DeviceSrgv deviceSrgv, int floor) {
+        //任务号
         int taskNo = deviceSrgv.getTaskNo();
+        //当前站点
         String currSite = deviceSrgv.getCurrSite();
+        //小车编码
         Integer deviceId = deviceSrgv.getDeviceId();
-
+        //如果已下发并且小车已离开起点，证明已下发成功，更改队列信息为已下发，更新开始时间
-        if (taskNo>999 && !"000000".equals(currSite)){
+        if (taskNo > 999 && !"000000".equals(currSite)) {
+            //查到该任务号未下发的该队列
             WcsSrgvQueue param = new WcsSrgvQueue();
             param.setTheFloor(Convert.toStr(floor));
             param.setTaskNo(Convert.toStr(taskNo));