小车调度

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

@@ -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);
+                }
+            }
+        }
 
     }