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2026.2.4

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This commit is contained in:
1009473166@qq.com
2026-02-04 15:27:22 +08:00
parent 5fe90b8bb4
commit 83dc4efd72
16 changed files with 430 additions and 218 deletions
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2
ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
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@@ -130,4 +130,6 @@ public interface IApiService
AjaxResult selectMydoJobByTrayCodeAndEntranceId(HashMap<String, Object> paramMap);
AjaxResult allotSpace(JobParam jobParam);
AjaxResult JobFinish(Map<String, Object> param);
}

36
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -138,6 +138,10 @@ public class ApiServiceImpl implements IApiService {
}
/**
* 处理agv状态返回
*
@@ -332,6 +336,7 @@ public class ApiServiceImpl implements IApiService {
@Override
public AjaxResult createInMydoJob(Map<String, Object> param) {
// 访问请求路径，生成入库作业 ，如果生成返回信息
RequestLog requestLog = requestLogService.getRequestLog(CREATE_IN_MYDO_JOB_URL, "入库请求生成作业", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())) {
InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
@@ -366,7 +371,23 @@ public class ApiServiceImpl implements IApiService {
@Override
public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) {
return null;
MydoJob mydoJob = new MydoJob();
mydoJob.setJobId(receiveInJob.getJobId());
mydoJob.setTaskNo(receiveInJob.getTaskNo());
mydoJob.setCargoSpaceId(receiveInJob.getCargoSpaceId());
mydoJob.setExitId(receiveInJob.getExitId());
mydoJob.setInOrOut(receiveInJob.getInOrOut());
mydoJob.setStatus("1");
mydoJob.setTrayCode(receiveInJob.getTrayCode());
mydoJob.setRoadwayId(receiveInJob.getRoadwayId());
mydoJob.setCreateTime(DateUtils.getNowDate());
mydoJob.setExecutionPhase("0");
int i = mydoJobService.insertMydoJob(mydoJob);
if (i > 0) {
return AjaxResult.success();
}else{
return AjaxResult.error();
}
}
@Override
@@ -396,4 +417,17 @@ public class ApiServiceImpl implements IApiService {
public AjaxResult allotSpace(JobParam jobParam) {
return null;
}
@Override
public AjaxResult JobFinish(Map<String, Object> param) {
RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "入库出任务过账", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())) {
InterfaceReceive bean = JSONUtil.toBean(requestLog.getResponseBody(), InterfaceReceive.class);
return AjaxResult.success(bean.getData());
} else {
return AjaxResult.error();
}
}
}

7
ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java
View File

@@ -41,7 +41,7 @@ public class RoadCacheServiceImpl implements RoadCacheService {
for (WcsSrgvMap wcsSrgvMap : wcsSrgvMaps) {
maps.put(wcsSrgvMap.getSiteId(), wcsSrgvMap);
}
param.setAxy("7,7");
param.setAxy("11,9");
List<WcsSrgvMap> tsjMap = wcsSrgvMapMapper.selectWcsSrgvMapList(param);
for (WcsSrgvMap wcsSrgvMap : tsjMap) {
maps.put("tsj",wcsSrgvMap);
@@ -59,10 +59,13 @@ public class RoadCacheServiceImpl implements RoadCacheService {
//3.锁定离线小车当前位置
lockedOfflineCarCurrSite(maps, deviceSrgv);
int[][] mapsInt = new int[29][11];
int[][] mapsInt = new int[50][50];
for (String site : maps.keySet()) {
WcsSrgvMap wcsSrgvMap = maps.get(site);
mapsInt[wcsSrgvMap.getX()][wcsSrgvMap.getY()] = wcsSrgvMap.getValue();
if (wcsSrgvMap.getAxy().equals("11,8")){
System.err.println(wcsSrgvMap.getValue());
}
}
return mapsInt;
}

4
ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java
View File

@@ -86,4 +86,8 @@ public class DeviceSsj extends BaseEntity
}

2
ruoyi-admin/src/main/java/com/ruoyi/job/controller/JobCallBackController.java
View File

@@ -104,7 +104,7 @@ public class JobCallBackController extends BaseController
return toAjax(jobCallBackService.deleteJobCallBackByIds(ids));
}
//@Scheduled(fixedDelay=1500)
@Scheduled(fixedDelay=1500)
public void jobCallBack() {
jobCallBackService.jobCallBack();
}

21
ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java
View File

@@ -71,8 +71,13 @@ public class ScheduleThread {
//读取信息初始化
plcReadInit();
//调度初始化
scheduleInit();
log.info("调度服务执行成功");
// startAllThread();
// startAllThread2();
}
/**
@@ -114,8 +119,8 @@ public class ScheduleThread {
ssjList.put(deviceSsj.getDeviceCode(), deviceSsj);
}
//plc输送机读取线程
PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("127.0.0.1", 102));
// plc输送机读取线程
PlcSsjRead plcSsjRead = new PlcSsjRead(ssjList, new PlcConnectInfo("192.168.200.41", 102));
Thread plcSsjReadThread = new Thread(plcSsjRead);
plcSsjReadCustomThread = new CustomThread<PlcSsjRead>(plcSsjReadThread, plcSsjRead);
@@ -151,7 +156,7 @@ public class ScheduleThread {
for (DeviceTsj deviceTsj : deviceTsjs) {
tsjList.put(deviceTsj.getId().toString(), deviceTsj);
}
PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList,new PlcConnectInfo("127.0.0.1", 102));
PlcTsjRead plcTsjRead = new PlcTsjRead(tsjList,new PlcConnectInfo("192.168.200.41", 102));
Thread plcTsjReadThread = new Thread(plcTsjRead);
plcTsjReadCustomThread = new CustomThread<>(plcTsjReadThread, plcTsjRead);
@@ -161,7 +166,7 @@ public class ScheduleThread {
for (DeviceCdz deviceCdz : deviceCdzs) {
cdzList.put(deviceCdz.getId().toString(), deviceCdz);
}
PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList,new PlcConnectInfo("127.0.0.1", 102));
PlcCdzRead plcCdzRead = new PlcCdzRead(cdzList,new PlcConnectInfo("192.168.200.41", 102));
Thread plcCdzReadThread = new Thread(plcCdzRead);
plcCdzReadCustomThread = new CustomThread<>(plcCdzReadThread, plcCdzRead);
@@ -187,10 +192,10 @@ public class ScheduleThread {
*/
public void startAllThread2() {
monitoringCustomThread.thread.start();
//ssjThreadCustomThread.thread.start();
//tsjThreadCustomThread.thread.start();
//sRgvThreadCustomThread.thread.start();
//cdzThreadCustomThread.thread.start();
ssjThreadCustomThread.thread.start();
tsjThreadCustomThread.thread.start();
sRgvThreadCustomThread.thread.start();
cdzThreadCustomThread.thread.start();
isRun2 = true;
}

34
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java
View File

@@ -7,6 +7,7 @@ import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import cn.hutool.core.convert.Convert;
import com.alibaba.druid.support.spring.stat.annotation.Stat;
import com.ruoyi.common.domain.PlcConnectInfo;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import lombok.extern.slf4j.Slf4j;
@@ -17,7 +18,7 @@ import java.util.concurrent.ConcurrentHashMap;
public class PlcSrgvRead implements Runnable {
public static ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap;
private ModbusTcpNet modbusTcpNet;
private ModbusTcpNet modbusTcpNet;
public IReadWriteNet readWriteNet = null;
public volatile boolean isRun = true;
private final String ip;
@@ -34,18 +35,18 @@ public class PlcSrgvRead implements Runnable {
this.station = (byte) 1;
}
public static boolean Write(String address, int[] value){
//OperateResult write = modbusTcpNet.Write(address, value);
return true;
public synchronized boolean Write(String address, int[] value) {
OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess;
}
public static boolean Write(String address, short[] value){
public synchronized boolean Write(String address, short[] value) {
//OperateResult write = modbusTcpNet.Write(address, value);
return true;
OperateResult write = modbusTcpNet.Write(address, value);
return write.IsSuccess;
}
@@ -88,19 +89,31 @@ public class PlcSrgvRead implements Runnable {
//单字
private void setValueByByte1(byte[] content, DeviceSrgv agvData) {
// agvData.setTaskType(0);
agvData.setTaskType(Convert.toInt(byteTransform.TransInt16(content, 0)));
// agvData.setBattery(0);
agvData.setBattery(Convert.toInt(byteTransform.TransInt16(content, 2)));
// agvData.setWorkMode(0);
agvData.setWorkMode(Convert.toInt(byteTransform.TransInt16(content, 4)));
// agvData.setAlarm(0);
agvData.setAlarm(Convert.toInt(byteTransform.TransInt16(content, 6)));
// agvData.setStatus(0);
agvData.setStatus(Convert.toInt(byteTransform.TransInt16(content, 8)));
//接收完成标志
// agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 10)));
// agvData.setFinish(0);
agvData.setFinish(Convert.toInt(byteTransform.TransInt16(content, 12)));
// agvData.setChargeFlag(0);
agvData.setChargeFlag(Convert.toInt(byteTransform.TransInt16(content, 14)));
// agvData.setWorkPhase(0);
agvData.setWorkPhase(Convert.toInt(byteTransform.TransInt16(content, 16)));
// agvData.setAllowSend(0);
agvData.setAllowSend(Convert.toInt(byteTransform.TransInt16(content, 18)));
// agvData.setSsjRequest(0);
agvData.setSsjRequest(Convert.toInt(byteTransform.TransInt16(content, 20)));
// agvData.setSpare2("0");
agvData.setSpare2(String.valueOf(Convert.toInt(byteTransform.TransInt16(content, 22))));
// agvData.setChangeLayer(0);
agvData.setChangeLayer(Convert.toInt(byteTransform.TransInt16(content, 24)));//换层标志
}
@@ -108,12 +121,16 @@ public class PlcSrgvRead implements Runnable {
private void setValueByByte2(byte[] content, DeviceSrgv agvData) {
byteTransform.setDataFormat(DataFormat.CDAB);
// TODO 注意双字反转
// agvData.setTaskNo(0);
agvData.setTaskNo(byteTransform.TransInt32(content, 0));
//log.info("=====小车{}读取到SRGV任务号:{}=======",agvData.getDeviceId(), agvData.getTaskNo());
// agvData.setSrcSite("000000");
agvData.setSrcSite(String.format("%06d", byteTransform.TransInt32(content, 4)));
//log.info("=====小车{}读取到SRGV源站点:{}=======",agvData.getDeviceId(), agvData.getSrcSite());
// agvData.setTarSite("000000");
agvData.setTarSite(String.format("%06d", byteTransform.TransInt32(content, 8)));
//log.info("=====小车{}读取到SRGV目标站点:{}=======",agvData.getDeviceId(), agvData.getTarSite());
// agvData.setCurrSite("000000");
agvData.setCurrSite(String.format("%06d", byteTransform.TransInt32(content, 12)));
//log.info("=====小车{}读取到SRGV当前站点:{}=======",agvData.getDeviceId(), agvData.getCurrSite());
@@ -124,6 +141,7 @@ public class PlcSrgvRead implements Runnable {
public void ConnectServer() {
modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象
log.info("创建连接对象,IP{}", this.ip);
try {
modbusTcpNet.setIpAddress(this.ip);
modbusTcpNet.setPort(this.port);

56
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java
View File

@@ -57,12 +57,15 @@ public class PlcSsjRead implements Runnable {
DeviceSsj ssjDevice = deviceSsjMap.get(ssjCode);
switch (ssjDevice.getType()) {
case "1":
// 地堆输送机
readPlcRoadWaySsj(ssjDevice);
break;
case "2":
case "3":
// 链条输送机
readPlcInOutSsj(ssjDevice);
break;
case "3":
case "2":
// 线体到位输送机
readPlcOtherSsj(ssjDevice);
break;
}
@@ -89,13 +92,13 @@ public class PlcSsjRead implements Runnable {
* @param ssjDevice
*/
private void readPlcOtherSsj(DeviceSsj ssjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("10"));
String ddsx1 = "0";
if (read2.IsSuccess) {
ddsx1 = SoftBasic.ByteToHexString(read2.Content);
ssjDevice.setKx(ParseUtil.optInt(0, ddsx1));
ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1));
ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
}
}
@@ -105,14 +108,16 @@ public class PlcSsjRead implements Runnable {
* @param ssjDevice
*/
private void readPlcRoadWaySsj(DeviceSsj ssjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("10"));
String ddsx1 = "0";
if (read2.IsSuccess) {
ddsx1 = SoftBasic.ByteToHexString(read2.Content);
ssjDevice.setKx(ParseUtil.optInt(0, ddsx1));
ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
ssjDevice.setRkqq(ParseUtil.optInt(4, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(6, ddsx1));
// ssjDevice.setRkqq(ParseUtil.optInt(0, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1));
ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
// ssjDevice.setTrayCode(ParseUtil.optString(14, 12, ddsx1));
// ssjDevice.setModel(ParseUtil.optInt(28, ddsx1));
}
}
@@ -122,15 +127,17 @@ public class PlcSsjRead implements Runnable {
* @param ssjDevice
*/
private void readPlcInOutSsj(DeviceSsj ssjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("20"));
OperateResultExOne<byte[]> read2 = readWriteNet.Read(ssjDevice.getPlcDbReadAddress(), Short.parseShort("22"));
String ddsx1 = "0";
if (read2.IsSuccess) {
ddsx1 = SoftBasic.ByteToHexString(read2.Content);
ssjDevice.setKx(ParseUtil.optInt(0, ddsx1));
ssjDevice.setDw(ParseUtil.optInt(2, ddsx1));
ssjDevice.setException(ParseUtil.optInt(4, ddsx1));
ssjDevice.setAllowPut(ParseUtil.optInt(6, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(2, ddsx1));
ssjDevice.setRkqq(ParseUtil.optInt(0, ddsx1));
ssjDevice.setTrayCode(ParseUtil.optString(8, 8, ddsx1));
// ssjDevice.setKx(ParseUtil.optInt(4, ddsx1));
// ssjDevice.setDw(ParseUtil.optInt(6, ddsx1));
}
}
@@ -150,8 +157,8 @@ public class PlcSsjRead implements Runnable {
ssjDevice.setTraySize(ParseUtil.optInt(6, ddsx1));
ssjDevice.setTaskNo(ParseUtil.optDInt(8, ddsx1));
String trayCodeReadAddress="";
switch (ssjDevice.getDeviceCode()){
String trayCodeReadAddress = "";
switch (ssjDevice.getDeviceCode()) {
case "G1005":
trayCodeReadAddress = "DB502.0";
break;
@@ -163,7 +170,7 @@ public class PlcSsjRead implements Runnable {
break;
}
OperateResultExOne<byte[]> trayCodeRead = readWriteNet.Read(trayCodeReadAddress, Short.parseShort("220"));
if (trayCodeRead.IsSuccess){
if (trayCodeRead.IsSuccess) {
byte[] content = trayCodeRead.Content;
//去除bytes中
ssjDevice.setTrayCode(ParseUtil.filterAndConvert(trayCodeRead.Content));
@@ -172,7 +179,6 @@ public class PlcSsjRead implements Runnable {
}
void ConnectServer() {
siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500);
try {
@@ -218,18 +224,16 @@ public class PlcSsjRead implements Runnable {
setIsConnect(false);
}
public static int writeToSsj(String address, String taskNo, int qx , int completed) {
public static int writeToSsj(String address, String taskNo, int qx, int completed) {
int jym = Tools.getJYM(Integer.parseInt(taskNo), qx, completed);
SendData taskNoSendData = new SendData(Tools.INT, taskNo);
SendData taskNoSendData = new SendData(Tools.DINT, taskNo);
SendData qxSendData = new SendData(Tools.INT, qx);
SendData completedSendData = new SendData(Tools.INT, completed);
SendData jymSendData = new SendData(Tools.INT, jym);
SendData jymSendData = new SendData(Tools.DINT, jym);
byte[] bytes = Tools.sendData(taskNoSendData, qxSendData, completedSendData, jymSendData);
return PlcSsjRead.WriteToSSJ(address, bytes);
}
}

24
ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/tsj/PlcTsjRead.java
View File

@@ -68,21 +68,21 @@ public class PlcTsjRead implements Runnable {
}
private void plcRead(DeviceTsj tsjDevice) {
OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("48"));
OperateResultExOne<byte[]> read2 = readWriteNet.Read(tsjDevice.getPlcDbReadAddress(), Short.parseShort("22"));
String ddsx1 = "0";
if (read2.IsSuccess) {
ddsx1 = SoftBasic.ByteToHexString(read2.Content);
tsjDevice.setCzfs(ParseUtil.optInt(2, ddsx1));
tsjDevice.setSbzt(ParseUtil.optInt(4, ddsx1));
tsjDevice.setRwh(Convert.toLong(ParseUtil.optDInt(6, ddsx1)));
tsjDevice.setDqcs(ParseUtil.optInt(10, ddsx1));
tsjDevice.setJdbz(ParseUtil.optInt(12, ddsx1));
tsjDevice.setYph(ParseUtil.optInt(14, ddsx1));
tsjDevice.setYch(ParseUtil.optInt(16, ddsx1));
tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1));
tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1));
tsjDevice.setYxxf(ParseUtil.optInt(22, ddsx1));
tsjDevice.setXtxh(ParseUtil.optInt(24, ddsx1));
tsjDevice.setCzfs(ParseUtil.optInt(8, ddsx1));
tsjDevice.setSbzt(ParseUtil.optInt(8, ddsx1));
tsjDevice.setRwh((long) ParseUtil.optDInt(0, ddsx1));
tsjDevice.setDqcs(ParseUtil.optInt(14, ddsx1));
tsjDevice.setJdbz(ParseUtil.optInt(4, ddsx1));
tsjDevice.setHczt(ParseUtil.optInt(6, ddsx1));
// tsjDevice.setYch(ParseUtil.optInt(16, ddsx1));
// tsjDevice.setMbph(ParseUtil.optInt(18, ddsx1));
// tsjDevice.setMbch(ParseUtil.optInt(20, ddsx1));
tsjDevice.setYxxf(ParseUtil.optInt(16, ddsx1));
tsjDevice.setSpare1(ParseUtil.optInt(10, ddsx1));
}
}

232
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -5,20 +5,27 @@ import cn.hutool.core.convert.Convert;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.api.domain.RequestLog;
import com.ruoyi.api.service.IApiService;
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.core.domain.AjaxResult;
import com.ruoyi.common.domain.CustomThread;
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.domain.SrgvChargingJob;
import com.ruoyi.job.charg.service.ISrgvChargingJobService;
import com.ruoyi.job.domain.JobCallBack;
import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.job.service.IMydoJobService;
import com.ruoyi.job.service.impl.JobCallBackServiceImpl;
import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
import com.ruoyi.schedule.ScheduleThread;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder;
import lombok.extern.slf4j.Slf4j;
@@ -50,7 +57,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
public IWcsSrgvMapService wcsSrgvMapService;
public RoadCacheService roadCacheService;
private IApiService apiService;
private JobCallBackServiceImpl jobCallBackService;
public void init() {
sRgvCodeList = new HashMap<>();
@@ -67,6 +75,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
mydoJobService = SpringUtils.getBean(IMydoJobService.class);
wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class);
roadCacheService = SpringUtils.getBean(RoadCacheService.class);
apiService = SpringUtils.getBean(IApiService.class);
jobCallBackService = SpringUtils.getBean(JobCallBackServiceImpl.class);
}
@Override
@@ -83,15 +93,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
if (ObjUtil.isNotNull(PlcSrgvRead.deviceSrgvMap.get(code))) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code);
// 小车任务下发 完成
sRgvTask(deviceSrgv);
// 入库队列
createCarInQueue();
// 出库队列
createCarOutQueue();
// 充电任务
inCharging(deviceSrgv);
// 充电完成调离
outCharging(deviceSrgv);
} else {
@@ -202,7 +212,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
.sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
- Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
.collect(Collectors.toList());
@@ -233,15 +243,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
if (deviceSrgv.getCurrFloor().equals(wcsSrgvMaps.get(0).getTheLayer())) {
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;
if(cargoPickSite.equals(deviceSrgv.getCurrSite())){
issued="1";
executionStatus="3";
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
issued = "1";
executionStatus = "3";
}
} else{
} else {
//终点是提升机
endSite = "tsj";
}
@@ -251,20 +262,20 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId();
List<DeviceSrgv> sameSiteDevices = deviceSrgvMap.values().stream()
.filter(d -> d.getWorkMode() == 4
.filter(d -> d.getWorkMode() == 5
&& d.getStatus() == 1
&& d.getCurrSite().equals(cargoPlaceSite))
.collect(Collectors.toList());
if(!sameSiteDevices.isEmpty() &&!Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())){
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){
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()))) {
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 wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMap4.getSiteId());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueue);
if (wcsSrgvQueue5 == null && wcsSrgvQueues.isEmpty()) {
@@ -294,7 +305,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
//生成小车取货队列
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
@@ -343,7 +354,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 5)
.filter(deviceSrgv -> deviceSrgv.getCurrFloor() > 0)
.sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
.collect(Collectors.toList());
if (!deviceSrgvList.isEmpty()) {
@@ -373,7 +385,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
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());
log.error("入库任务号：{} 入库入口ID为空", mydoJob1.getTaskNo());
return;
}
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
@@ -394,17 +406,17 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//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() == 4
.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())){
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){
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()))) {
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());
@@ -438,8 +450,6 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
@@ -484,7 +494,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
String agvId = wcsSrgvQueue.getAgvId();
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) {
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getAllowSend() == 1) {
String startSite = wcsSrgvQueue.getStartSite();
String endSite = wcsSrgvQueue.getEndSite();
String currSite = deviceSrgv.getCurrSite();
@@ -511,7 +521,14 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
Integer floor = deviceSrgv.getCurrFloor();
//获取当前地图
Map<String, WcsSrgvMap> arrByRoadSite = roadCacheService.getArrByRoadSite(floor);
if ((wcsSrgvQueue.getDefault02().equals("1") || wcsSrgvQueue.getDefault02().equals("2") || wcsSrgvQueue.getDefault02().equals("4")) && wcsSrgvQueue.getTheFloor().equals("1") && !wcsSrgvQueue.getEndSite().equals("tsj")) {
//如果是1层 锁定提升机站点
if (CollUtil.isNotEmpty(arrByRoadSite) && arrByRoadSite.values().iterator().next().getZ() == 1) {
if (arrByRoadSite.containsKey("080501")) {
arrByRoadSite.get("080501").setValue(0);
}
}
}
//处理地图
int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv);
@@ -521,8 +538,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//判断是否能规划出最短路径
if (shortestPath == null || shortestPath.isEmpty()) {
//判断是否是1层 空车取货 或者 满车放货
if (floor==1){
if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())){
if (floor == 1) {
if ("2".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPlaceSite())) {
//1层满车放货
//修改终点到出库缓存点
WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
@@ -534,12 +552,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
}
cacheSite.removeAll(currentSRgvSite);
if (CollUtil.isNotEmpty(cacheSite)){
if (CollUtil.isNotEmpty(cacheSite)) {
for (String cache : cacheSite) {
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setEndSite(cache);
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)){
if (CollUtil.isEmpty(wcsSrgvQueues)) {
wcsSrgvQueue.setEndSite(cacheSite.get(0));
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
break;
@@ -548,7 +566,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
}
if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())){
if ("4".equals(wcsSrgvQueue.getDefault02()) && "tsj".equals(wcsSrgvQueue.getStartSite()) && wcsSrgvQueue.getEndSite().equals(wcsSrgvQueue.getCargoPickSite())) {
//1层空车取货
//修改终点到避让点
WcsSrgvMap wcsSrgvMapParam = new WcsSrgvMap();
@@ -560,21 +578,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
currentSRgvSite.add(PlcSrgvRead.deviceSrgvMap.get(srgvCode).getCurrSite());
}
cacheSite.removeAll(currentSRgvSite);
if (CollUtil.isNotEmpty(cacheSite)){
if (CollUtil.isNotEmpty(cacheSite)) {
for (String cache : cacheSite) {
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setEndSite(cache);
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)){
if (CollUtil.isEmpty(wcsSrgvQueues)) {
wcsSrgvQueue.setEndSite(cacheSite.get(0));
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
break;
}
}
}
}
}
return false;
}
@@ -617,17 +633,22 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
}
}
if (("tsj").equals(endSite)) {
endSite = "09050" + wcsSrgvQueue.getTheFloor();
}
// if (("tsj").equals(startSite)) {
// endSite = "09050" + wcsSrgvQueue.getTheFloor();
// }
List<SendData2> sendDataList = new ArrayList<>();
if (!trun.isEmpty()) {
SendData2 path = new SendData2();
path.setAddress("4000");//地址
path.setAddress("4004");//地址
path.setData(startSite + "," + endSite + "," + turnBuilder);
path.setType(2);
sendDataList.add(path);
} else {
SendData2 path = new SendData2();
path.setAddress("4000");//地址
path.setAddress("4004");//地址
path.setData(startSite + "," + endSite);
path.setType(2);
sendDataList.add(path);
@@ -635,33 +656,40 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//任务号、原、目标数据转换
String siteId = wcsSrgvQueue.getTaskNo() + "1";//+ "," + startSite + "," + endSite;
String siteId = wcsSrgvQueue.getTaskNo();//+ "," + startSite + "," + endSite;
SendData2 site = new SendData2();
site.setAddress("4400");
site.setAddress("4000");
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.setAddress("4002");
taskType.setData(wcsSrgvQueue.getDefault02());
taskType.setType(1);
sendDataList.add(taskType);
//下发标志转换
SendData2 flag = new SendData2();
flag.setAddress("2202");
flag.setAddress("4021");
flag.setData("1");
flag.setType(1);
sendDataList.add(flag);
//下发数据
boolean b = true;// sendCarTask(sendDataList, deviceSrgv);
boolean b = sendCarTask(sendDataList, deviceSrgv);
if (b) {
wcsSrgvQueue.setPathInfo(pathBuilder.toString());
wcsSrgvQueue.setTrunPath(turnBuilder.toString());
wcsSrgvQueue.setIssued("1");
wcsSrgvQueue.setExecutionStatus("3");
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
MydoJob mydoJob = new MydoJob();
mydoJob.setTaskNo(wcsSrgvQueue.getTaskNo());
mydoJob.setExecutionPhase("3");
mydoJob.setStatus("3");
mydoJobService.updateMydoJob(mydoJob);
return true;
} else {
log.error("小车下发失败 taskNo:{}", wcsSrgvQueue.getTaskNo());
@@ -698,7 +726,28 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
private boolean sendCarTask(List<SendData2> sendDataList, DeviceSrgv deviceSrgv) {
boolean b = true;
ScheduleThread scheduleThread = SpringUtils.getBean(ScheduleThread.class);
CustomThread<?> ct = null;
Integer deviceId = deviceSrgv.getDeviceId();
if (deviceId != null) {
switch (deviceId) {
case 1:
ct = scheduleThread.plcSrgvReadCustomThread1;
break;
case 2:
ct = scheduleThread.plcSrgvReadCustomThread2;
break;
case 3:
ct = scheduleThread.plcSrgvReadCustomThread3;
break;
default:
break;
}
}
PlcSrgvRead plcReader = ct != null ? (PlcSrgvRead) ct.getRunnable() : null;
if (plcReader == null) {
return false;
}
for (SendData2 sendData : sendDataList) {
String address = sendData.getAddress();
String data = sendData.getData();//
@@ -713,7 +762,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
.map(String::trim)
.mapToInt(Integer::parseInt)
.toArray();
boolean write = PlcSrgvRead.Write(address, intData);
boolean write = plcReader.Write(address, intData);
if (!write) {
b = false;
@@ -735,7 +784,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
}
boolean write = PlcSrgvRead.Write(address, shortData);
boolean write = plcReader.Write(address, shortData);
if (!write) {
b = false;
@@ -757,7 +806,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
*/
private void completeCarTask(DeviceSrgv deviceSrgv) {
//联机自动
if (deviceSrgv.getWorkMode() == 4) {
if (deviceSrgv.getWorkMode() == 5) {
if (deviceSrgv.getStatus() == 1) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -767,14 +816,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);//查询到达目标的
if (CollUtil.isNotEmpty(wcsSagvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
/*
* 1、不处理终点是提升机站点的四向车
* 2、处理终点不是提升机站点的
* */
finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
}
}
}
@@ -790,47 +832,43 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
private void finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue) {
//当前在终点
// 如果当前在终点
if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
String taskType = wcsSrgvQueue.getTaskType();
String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setRemark("outCache");
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
if(wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))){
//当前路径地图map中如果存在小车的站点，返回true
if (wcsSrgvMaps.stream().anyMatch(wcsSrgvMap1 -> wcsSrgvMap1.getSiteId().equals(currSite))) {
//生成小车从避让点到放货/取货位置，如果是空车就到取货位置，如果是满车就到放货位置
wcsSrgvQueue.setExecutionStatus("4");
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("1");
wcsSrgvQueue.setStartSite(currSite);
if("1".equals(taskType)){
wcsSrgvQueue.setEndSite(cargoPickSite);
}else if("2".equals(taskType)){
wcsSrgvQueue.setEndSite(cargoPlaceSite);
}
wcsSrgvQueue.setTheFloor("1");
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
return;
// wcsSrgvQueue.setExecutionStatus("4");
// wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
// wcsSrgvQueue.setIssued("0");
// wcsSrgvQueue.setExecutionStatus("1");
// wcsSrgvQueue.setStartSite(currSite);
// if ("1".equals(taskType)) {
// wcsSrgvQueue.setEndSite(cargoPickSite);
// } else if ("2".equals(taskType)) {
// wcsSrgvQueue.setEndSite(cargoPlaceSite);
// }
// wcsSrgvQueue.setTheFloor("1");
// wcsSrgvQueue.setDefault07("1");
// wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
// return;
}
//空车现在位置是取货位置（移库取货，入库取货，出库取货），满车现在是放货位置
//空车任务 且当前车的位置和取货位置相同
if ("1".equals(taskType) && cargoPickSite.equals(currSite)) {
//修改队列起终点，下发类型，重新下发。怎么区分重新下发的类型是移库还是入库,还有可能是出库取货--》判断取货位置是否为入库点
//判断放货位置是否同一层，修改队列原层目标层，起终点
//查询放货位置层数
WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
String endSite = "";
String xfType = "";
// 取货点地图和放货点地图不为空
if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
if (Objects.equals(wcsSrgvMapq.getTheLayer(), wcsSrgvMapf.getTheLayer())) {
//如果是同层，终点为放货点
endSite = cargoPlaceSite;
@@ -848,6 +886,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
xfType = "7";//移库
}
}
// 更新目标点，修改执行队列
wcsSrgvQueue.setExecutionStatus("4");
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSrgvQueue.setStartSite(currSite);
@@ -857,17 +896,36 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("1");
wcsSrgvQueue.setTaskType("2");
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
}
// 入库任务 原地址和目标地址不同，且小车当前地址和放货地址相同处理入库任务执行队列
} else if ("2".equals(taskType) && cargoPlaceSite.equals(currSite)) {
//判断对列的任务类型
//判断对列的任务类型 当前只限于处理出库任务执行队列
switch (wcsSrgvQueue.getDefault02()) {
case "1"://入库，插库存，
//请求wms生成库存
//请求wms生成库存 插入回传表
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
if (mydoJob != null) {
JobCallBack jobCallBack = new JobCallBack();
jobCallBack.setType(wcsSrgvQueue.getDefault02());
jobCallBack.setMydojobId(mydoJob.getJobId());
jobCallBack.setStatus("0");
jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo()));
jobCallBack.setCreateTime(new Date());
jobCallBackService.insertJobCallBack(jobCallBack);
mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId());
}
break;
case "2":
MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo()));
if (mydoJobOut != null) {
mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId());
}
case "7"://移库，变动库存
break;

28
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
View File

@@ -124,7 +124,7 @@ public class SsjThread implements Runnable {
}
void inDispatch1(DeviceSsj deviceSsj) {
if (deviceSsj.getDw() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) {
//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());
@@ -136,23 +136,29 @@ public class SsjThread implements Runnable {
mydoJob.setStatus("1");
mydoJob.setExecutionPhase("1");
mydoJob.setCreateTime(new Date());
if("GS1002".equals(deviceSsj.getDeviceCode())) {
if ("GS1002".equals(deviceSsj.getDeviceCode())) {
mydoJob.setEntranceId("L1004");
}else{
} 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.setTrayCode(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());
log.info(deviceSsj.getDeviceCode() + "输送机下发任务号成功:{}", mydoJob.getTaskNo());
}
} else {
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2,1);
int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 1);
if (i == 1) {
log.info(deviceSsj.getDeviceCode()+"未查到该托盘码作业，下发退回，去向2");
log.info(deviceSsj.getDeviceCode() + "未查到该托盘码作业，下发退回，去向2");
}
}
@@ -162,13 +168,13 @@ public class SsjThread implements Runnable {
}
void inDispatch2(DeviceSsj deviceSsj){
if(deviceSsj.getDw() == 1 && deviceSsj.getTaskNo()>1000){
void inDispatch2(DeviceSsj deviceSsj) {
if (deviceSsj.getDw() == 1 && deviceSsj.getTaskNo() > 1000) {
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo((long) deviceSsj.getTaskNo());
if(mydoJob!=null){
if (mydoJob != null) {
mydoJob.setExecutionPhase("2");
mydoJobService.updateMydoJob(mydoJob);
mydoJobService.updateMydoJob(mydoJob);
}
}
}

191
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java
View File

@@ -23,6 +23,7 @@ import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueueFinish;
import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueFinishService;
import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService;
import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.tsj.PlcTsjRead;
import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j;
@@ -88,8 +89,13 @@ public class TsjThread implements Runnable {
*
* */
if (czfs == 2 && sbzt == 2 && jdbz == 4 && rwh > 999) {
createSRgvQueue(rwh);
createSRgvQueue(rwh, tsj);
}
// 提升机取货中 说明对齐当前要取货层 开始给小车下发
if (czfs == 2 && sbzt == 2 && jdbz == 2 && rwh > 999) {
createSRgvQueueTsjQd(rwh, tsj);
}
/*
* 2、任务完成
*
@@ -111,9 +117,39 @@ public class TsjThread implements Runnable {
}
private void createSRgvQueue(Long rwh) {
// 下发提升机启动
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.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);
int i = PlcTsjRead.WriteToTSJ("DB602.56", bytes);
}
}
}
// 下发提升机完成
private void createSRgvQueueTsjFinish(Long rwh, DeviceTsj tsj) {
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
if (deviceSrgv.getCurrSite().equals("09050" + 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);
int i = PlcTsjRead.WriteToTSJ("DB602.58", bytes);
}
}
}
private void createSRgvQueue(Long rwh, DeviceTsj tsj) {
WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
sRgvQueueParam.setTaskNo(Convert.toStr(rwh));
sRgvQueueParam.setEndSite(Convert.toStr("tsj"));
List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(sRgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)) {
return;
@@ -131,12 +167,14 @@ public class TsjThread implements Runnable {
case "1":
//入库
//满车
startSite = "tsj";
// startSite="tsj";
startSite = "09050" + tsj.getDqcs();
endSite = wcsSrgvQueue.getCargoPlaceSite();
break;
case "2":
//出库
startSite = "tsj";
// startSite="tsj";
startSite = "09050" + tsj.getDqcs();
endSite = wcsSrgvQueue.getCargoPlaceSite();
break;
case "3":
@@ -159,7 +197,7 @@ public class TsjThread implements Runnable {
break;
}
if (StrUtil.isNotEmpty(startSite) && StrUtil.isNotEmpty(endSite)){
if (StrUtil.isNotEmpty(startSite) && StrUtil.isNotEmpty(endSite)) {
wcsSrgvQueue.setStartSite(startSite);
wcsSrgvQueue.setEndSite(endSite);
@@ -174,7 +212,7 @@ public class TsjThread implements Runnable {
private void createQueue(DeviceTsj tsj) {
for (String sRgv : PlcSrgvRead.deviceSrgvMap.keySet()) {
DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(sRgv);
if (deviceSrgv.getSsjRequest()==1 && deviceSrgv.getTaskNo()>0){
if (deviceSrgv.getSpare2().equals("1") && deviceSrgv.getTaskNo() > 0) {
//请求进入输送机
WcsSrgvQueue sRgvQueueParam = new WcsSrgvQueue();
sRgvQueueParam.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
@@ -182,29 +220,30 @@ public class TsjThread implements Runnable {
List<WcsSrgvQueue> wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(sRgvQueueParam);
if (CollUtil.isNotEmpty(wcsSrgvQueues)) {
TsjDeviceExecutionQueue tsjDeviceExecutionQueueByRwh = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(Convert.toLong(deviceSrgv.getTaskNo()));
if (tsjDeviceExecutionQueueByRwh == null){
if (tsjDeviceExecutionQueueByRwh == null) {
WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0);
String strFloor = wcsSrgvQueue.getTheFloor();
String tarFloor = wcsSrgvQueue.getDefault07();
if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
//提升机层数和取车任务层数不一致
//todo 判断目标楼层存在不存在其他小车
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID());
tsjDeviceExecutionQueue.setDeviceId(tsj.getId());
tsjDeviceExecutionQueue.setDeviceName(tsj.getName());
tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(deviceSrgv.getTaskNo()));
tsjDeviceExecutionQueue.setSrcRow("0");
tsjDeviceExecutionQueue.setSrcLayer(strFloor);
tsjDeviceExecutionQueue.setTarRow("0");
tsjDeviceExecutionQueue.setTarLayer(tarFloor);
tsjDeviceExecutionQueue.setSendType("1");
tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
tsjDeviceExecutionQueue.setSpare1(Convert.toStr(deviceSrgv.getDeviceId()));
tsjDeviceExecutionQueue.setTaskType("1");
tsjDeviceExecutionQueue.setRwlx("1");
tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
}
// if (!Convert.toStr(tsj.getDqcs()).equals(strFloor)) {
//提升机层数和取车任务层数不一致
//todo 判断目标楼层存在不存在其他小车
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue();
tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID());
tsjDeviceExecutionQueue.setDeviceId(tsj.getId());
tsjDeviceExecutionQueue.setDeviceName(tsj.getName());
tsjDeviceExecutionQueue.setTaskNo(Convert.toLong(deviceSrgv.getTaskNo()));
tsjDeviceExecutionQueue.setSrcRow("0");
tsjDeviceExecutionQueue.setSrcLayer(strFloor);
tsjDeviceExecutionQueue.setTarRow("0");
tsjDeviceExecutionQueue.setTarLayer(tarFloor);
tsjDeviceExecutionQueue.setSendType("1");
tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date()));
tsjDeviceExecutionQueue.setSpare1(Convert.toStr(deviceSrgv.getDeviceId()));
tsjDeviceExecutionQueue.setTaskType("1");
tsjDeviceExecutionQueue.setSendFlag("0");
tsjDeviceExecutionQueue.setRwlx("1");
tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
// }
}
}
@@ -213,32 +252,34 @@ public class TsjThread implements Runnable {
}
private void sendTsj() {
List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(new TsjDeviceExecutionQueue());
TsjDeviceExecutionQueue tsjDeviceExecutionQueue1 = new TsjDeviceExecutionQueue();
tsjDeviceExecutionQueue1.setSendFlag("0");
List<TsjDeviceExecutionQueue> tsjDeviceExecutionQueues = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueList(tsjDeviceExecutionQueue1);
if (CollUtil.isNotEmpty(tsjDeviceExecutionQueues)) {
TsjDeviceExecutionQueue tsjDeviceExecutionQueue = tsjDeviceExecutionQueues.get(0);
//提升机移动到小车楼层 需要判断目标楼层入库点位小车是否到位
WcsPort param = new WcsPort();
param.setPortType("1");
param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
param.setStatus("1");
param.setSpare2("1");
List<WcsPort> wcsInPorts = wcsPortService.selectWcsPortList(param);
if (CollUtil.isEmpty(wcsInPorts)) {
log.info("提升机任务[{}]下发 目标楼层[{}]入库点位空闲 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
return;
}
//提升机承载小车到目标楼层 需要判断目标楼层出库点位是否空闲
WcsPort param1 = new WcsPort();
param1.setPortType("1");
param1.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
param1.setStatus("0");
param1.setSpare2("1");
List<WcsPort> wcsOutPorts = wcsPortService.selectWcsPortList(param1);
if (CollUtil.isEmpty(wcsOutPorts)) {
log.info("提升机任务[{}]下发 目标楼层[{}]出库点位占用 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
return;
}
// //提升机移动到小车楼层 需要判断目标楼层入库点位小车是否到位
// WcsPort param = new WcsPort();
// param.setPortType("1");
// param.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
// param.setStatus("1");
// param.setSpare2("1");
// List<WcsPort> wcsInPorts = wcsPortService.selectWcsPortList(param);
// if (CollUtil.isEmpty(wcsInPorts)) {
// log.info("提升机任务[{}]下发 目标楼层[{}]入库点位空闲 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
// return;
// }
// //提升机承载小车到目标楼层 需要判断目标楼层出库点位是否空闲
// WcsPort param1 = new WcsPort();
// param1.setPortType("1");
// param1.setPortRegion(tsjDeviceExecutionQueue.getTarLayer());
// param1.setStatus("0");
// param1.setSpare2("1");
// List<WcsPort> wcsOutPorts = wcsPortService.selectWcsPortList(param1);
// if (CollUtil.isEmpty(wcsOutPorts)) {
// log.info("提升机任务[{}]下发 目标楼层[{}]出库点位占用 无法下发提升机任务", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getTarLayer());
// return;
// }
writeToTsj(tsjDeviceExecutionQueues.get(0));
log.info("提升机任务下发 taskNo{} 任务类型:{}", tsjDeviceExecutionQueue.getTaskNo(), tsjDeviceExecutionQueue.getRwlx());
@@ -251,22 +292,58 @@ public class TsjThread implements Runnable {
* @param tsjDeviceExecutionQueue
*/
private void writeToTsj(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) {
SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow()));
SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow()));
SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
SendData sendType = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSendType()));
// SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
// SendData rwlxSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getRwlx()));
// SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
// SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
// SendData completedSendData = new SendData(Tools.INT, 1);
// int jym = Tools.getJYM(taskNoSendData.getNum2(), srcLayer.getNum2(), tarLayer.getNum2(), completedSendData.getNum2(), rwlxSendData.getNum2());
// SendData jymSendData = new SendData(Tools.INT, jym);
// byte[] bytes = Tools.sendData(taskNoSendData, srcLayer, tarLayer, completedSendData, jymSendData);
// DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
// if (ObjUtil.isNotNull(deviceTsj)) {
// PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
// }
int jym = Tools.getJYM(Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTaskNo())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getRwlx())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getSrcLayer())), Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTarLayer())), 1);
SendData taskNoSendData = new SendData(Tools.DINT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTaskNo())));
SendData rwlxSendData = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getRwlx())));
SendData srcLayer = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getSrcLayer())));
SendData tarLayer = new SendData(Tools.INT, Integer.parseInt(String.valueOf(tsjDeviceExecutionQueue.getTarLayer())));
SendData completedSendData = new SendData(Tools.INT, 1);
int jym = Tools.getJYM(taskNoSendData.getNum2(), srcRow.getNum2(), srcLayer.getNum2(), tarRow.getNum2(), tarLayer.getNum2(), sendType.getNum2(), completedSendData.getNum2());
SendData jymSendData = new SendData(Tools.INT, jym);
byte[] bytes = Tools.sendData(taskNoSendData, srcRow, srcLayer, tarRow, tarLayer, sendType, completedSendData, jymSendData);
byte[] bytes = Tools.sendData(taskNoSendData, rwlxSendData, srcLayer, tarLayer, completedSendData, jymSendData);
DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
int i = PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
if (i > 0) {
tsjDeviceExecutionQueue.setSendFlag("1");
tsjDeviceExecutionQueueService.updateTsjDeviceExecutionQueue(tsjDeviceExecutionQueue);
}
}
private void writeToTsjWC(TsjDeviceExecutionQueue tsjDeviceExecutionQueue) {
SendData taskNoSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTaskNo()));
SendData rwlxSendData = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getRwlx()));
// SendData srcRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcRow()));
SendData srcLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getSrcLayer()));
// SendData tarRow = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarRow()));
SendData tarLayer = new SendData(Tools.INT, Convert.toInt(tsjDeviceExecutionQueue.getTarLayer()));
SendData completedSendData = new SendData(Tools.INT, 1);
int jym = Tools.getJYM(taskNoSendData.getNum2(), srcLayer.getNum2(), tarLayer.getNum2(), completedSendData.getNum2(), rwlxSendData.getNum2());
SendData jymSendData = new SendData(Tools.INT, jym);
byte[] bytes = Tools.sendData(taskNoSendData, srcLayer, tarLayer, completedSendData, jymSendData);
DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(Convert.toStr(tsjDeviceExecutionQueue.getDeviceId()));
if (ObjUtil.isNotNull(deviceTsj)) {
PlcTsjRead.WriteToTSJ(deviceTsj.getPlcDbWriteAddress(), bytes);
}
}
private void finishTask(Long taskNo) {
//根据任务号查询队列 修改执行状态

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://172.16.2.170:1433;databaseName=FT546-wcs;
url: jdbc:sqlserver://127.0.0.1:1433;databaseName=FT546-WCS;
username: sa
password: Flrd0914.
password: 123456
# 从库数据源
slave:
# 从数据源开关/默认关闭

2
ruoyi-admin/src/main/resources/application.yml
View File

@@ -68,7 +68,7 @@ spring:
# redis 配置
redis:
# 地址
host: 172.16.2.170
host: 127.0.0.1
# 端口，默认为6379
port: 6379
# 数据库索引

1
ruoyi-admin/src/main/resources/mapper/job/MydoJobMapper.xml
View File

@@ -67,6 +67,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
<select id="selectMydoJobByTaskNo" parameterType="String" resultMap="MydoJobResult">
<include refid="selectMydoJobVo"/>
where task_no = #{taskNo}
and execution_phase != '2'
</select>
<select id="ddjTaskFinish" parameterType="java.util.Map" statementType="CALLABLE">
{call proc_mydojob_finish(