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小车调度

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liuhanqing
2025-11-21 09:53:20 +08:00
parent 75e54b5d43
commit 9a24fb4be8
1 changed files with 86 additions and 6 deletions
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92
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
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@@ -1,7 +1,16 @@
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.ObjUtil;
import com.ruoyi.bas.port.domain.WcsPort;
import com.ruoyi.bas.port.mapper.WcsPortMapper;
import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.device.srgv.domain.DeviceSrgv;
import com.ruoyi.queue.srgv.domain.WcsSrgvQueue;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService;
import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService;
import lombok.extern.slf4j.Slf4j;
import java.util.HashMap;
@@ -14,6 +23,11 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
public HashMap<String, List<DeviceSrgv>> sRgvCodeList;
public IWcsSrgvQueueService wcsSagvQueueMapper;
public IWcsSrgvQueueFinishService wcsSagvQueueFinishMapper;
public IWcsPortService wcsPortService;
@@ -30,7 +44,10 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
for (DeviceSrgv deviceSrgv : sRgvCodeList.get(type)) {
try {
if (ObjUtil.isNotNull(deviceSrgv)) {
sRgvTask(deviceSrgv);
//循环所有楼层
for (int i = 1; i <= 8; i++) {
sRgvTask(deviceSrgv);
}
} else {
log.error("堆垛机设备为空");
}
@@ -51,12 +68,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
/**
* 四向小车任务处理
*/
private void sRgvTask(DeviceSrgv deviceSrgv) {
private void sRgvTask(DeviceSrgv deviceSrgv,int floor) {
//处理队列下发
resQueue(deviceSrgv);
resQueue(deviceSrgv,floor);
//小车完成队列
completeCarTask(deviceSrgv);
completeCarTask(deviceSrgv,floor);
//小车发送任务
sendTask(deviceSrgv);
@@ -89,15 +106,78 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
/**
* 小车完成队列
*/
private void completeCarTask(DeviceSrgv deviceSrgv) {
private void completeCarTask(DeviceSrgv deviceSrgv,int floor) {
if (deviceSrgv.getWorkMode()==5){
//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();
param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
param.setEndSite(deviceSrgv.getCurrSite());//目标点
param.setIssued("1");
param.setExecutionStatus("1");//
List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);//查询到达目标的
if (CollUtil.isNotEmpty(wcsSagvQueues)) {
WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
/*
* 1、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
* */
boolean taskFinishFlag = finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue, floor);
}
}
}
}
/**
* 队列完成
* @param currSite
* @param wcsSrgvQueue
* @param floor
* @return
*/
private boolean finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue, int floor) {
if (currSite.equals(wcsSrgvQueue.getEndSite())){
//当前在放货站点
WcsPort param = new WcsPort();
param.setPortCode(currSite);
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(param);
if (CollUtil.isNotEmpty(wcsPorts)){
}
}
return false;
}
/**
* 队列处理
* @param deviceSrgv
*/
private void resQueue(DeviceSrgv deviceSrgv) {
private void resQueue(DeviceSrgv deviceSrgv, int floor) {
int taskNo = deviceSrgv.getTaskNo();
String currSite = deviceSrgv.getCurrSite();
Integer deviceId = deviceSrgv.getDeviceId();
if (taskNo>999 && !"000000".equals(currSite)){
WcsSrgvQueue param = new WcsSrgvQueue();
param.setTheFloor(Convert.toStr(floor));
param.setTaskNo(Convert.toStr(taskNo));
param.setIssued("0");
param.setAgvId(String.valueOf(deviceId));
List<WcsSrgvQueue> wcsSagvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(param);
if (CollUtil.isNotEmpty(wcsSagvQueues)){
WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0);
String startSite = wcsSrgvQueue.getStartSite();
if (!startSite.equals(currSite)){
wcsSrgvQueue.setIssued("1");
wcsSrgvQueue.setStartDate(DateUtil.now());
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
}
}
}
}