diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/ReceiveJob.java b/ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/ReceiveJob.java index a8d968a..a1dfada 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/ReceiveJob.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/ReceiveJob.java @@ -16,5 +16,6 @@ public class ReceiveJob { private String inOrOut; private String jobId; private String roadwayId; + private String classId; } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java index 87e90ea..540fe86 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java @@ -360,6 +360,7 @@ public class ApiServiceImpl implements IApiService { mydoJob.setRoadwayId(receiveOutJob.getRoadwayId()); mydoJob.setCreateTime(DateUtils.getNowDate()); mydoJob.setExecutionPhase("0"); + mydoJob.setTheFloor(receiveOutJob.getClassId()); int i = mydoJobService.insertMydoJob(mydoJob); if (i > 0) { return AjaxResult.success(); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java index 76f8ab1..39983a6 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/RoadCacheServiceImpl.java @@ -143,7 +143,17 @@ public class RoadCacheServiceImpl implements RoadCacheService { HashSet otherCarSiteList = new HashSet<>(); for (WcsSrgvQueue wcsSrgvQueue : otherCarQueue) { if (wcsSrgvQueue.getPathInfo()!=null) { - otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(","))); + //根据小车当前点位去除已走路径 + DeviceSrgv otherCarCurrStatus = deviceSrgvService.selectDeviceSrgvByGuid(wcsSrgvQueue.getAgvId()); + String currSite = otherCarCurrStatus.getCurrSite(); + List allSiteList = Arrays.asList(wcsSrgvQueue.getPathInfo().split(",")); + int i = allSiteList.indexOf(currSite); + if (i==-1){ + i=0; + } + List resultSiteList = allSiteList.subList(i, allSiteList.size()); + otherCarSiteList.addAll(resultSiteList); + //otherCarSiteList.addAll(Arrays.asList(wcsSrgvQueue.getPathInfo().split(","))); } } //锁定其他小车路径 diff --git a/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java b/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java index c4a12e5..84eb50d 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java @@ -94,4 +94,5 @@ public class MydoJob extends BaseEntity private String productId; private String productName; + private String classId; } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java index 933a320..f515d2e 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java @@ -2,6 +2,7 @@ package com.ruoyi.queue.srgv.mapper; import java.util.List; import com.ruoyi.queue.srgv.domain.WcsSrgvQueue; +import org.apache.ibatis.annotations.Param; /** * 四向小车任务队列Mapper接口 @@ -70,4 +71,6 @@ public interface WcsSrgvQueueMapper * @return 结果 */ public int deleteWcsSrgvQueueByGuids(String[] guids); + + String selectMinCountJob(@Param("list") List outModelSSJ); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java index 40f836a..21c2367 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java @@ -77,4 +77,6 @@ public interface IWcsSrgvQueueService * @param taskNo */ public WcsSrgvQueue insertHistory(String taskNo); + + String selectMinCountJob(List outModelSSJ); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java index 81a2070..d4e7926 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java @@ -115,6 +115,11 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService return wcsSrgvQueueMapper.deleteWcsSrgvQueueByGuid(guid); } + @Override + public String selectMinCountJob( List outModelSSJ) { + return wcsSrgvQueueMapper.selectMinCountJob(outModelSSJ) ; + } + @Override public WcsSrgvQueue insertHistory(String taskNo) { WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java index 2291b28..4d14932 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/srgv/PlcSrgvRead.java @@ -90,6 +90,12 @@ public class PlcSrgvRead implements Runnable { if (read2.IsSuccess) { setValueByByte2(read2.Content, deviceSrgv); } + + // //读取双字，路径 + OperateResultExOne read4 = modbusTcpNet.Read("6000", (short) 800);// 5000-5799 路径 400个 + if (read4.IsSuccess) { + setValueByByte4(read4.Content, deviceSrgv); + } } //单字 @@ -150,6 +156,29 @@ public class PlcSrgvRead implements Runnable { agvData.setCurrFloor(floor); } + private void setValueByByte4(byte[] content, DeviceSrgv agvData) { + + StringBuilder sb = new StringBuilder(); + for (int i = 0; i < content.length; i += 4) { + // 检查剩余字节是否足够4个 + if (i + 4 > content.length) break; + // TODO 注意双字反转 + int value = byteTransform.TransInt32(content, i); + + // 如果值为0，终止循环 + if (value == 0) { + break; + } + sb.append(String.format("%06d", value)).append(","); // 用逗号分隔每个int值 + } + + // 移除最后多余的 "," + if (sb.length() > 0) { + sb.setLength(sb.length() - 1); + } + agvData.setPath(sb.toString()); + } + public void ConnectServer() { modbusTcpNet = new ModbusTcpNet();//创建一个Modbus对象 log.info("创建连接对象,IP{}", this.ip); diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java index 458e775..4bc6775 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/plcRead/ssj/PlcSsjRead.java @@ -99,6 +99,7 @@ public class PlcSsjRead implements Runnable { ssjDevice.setKx(ParseUtil.optInt(4, ddsx1)); ssjDevice.setDw(ParseUtil.optInt(6, ddsx1)); ssjDevice.setTaskNo(ParseUtil.optDInt(0, ddsx1)); + ssjDevice.setModel(ParseUtil.optInt(8, ddsx1));//出入库模式 1入 2出 } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java index 0dbcc7e..e3a1162 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/monit/MonitoringThread.java @@ -51,7 +51,9 @@ public class MonitoringThread implements Runnable { } for (String srgvCode : PlcSrgvRead.deviceSrgvMap.keySet()) { DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvCode); - deviceSrgvService.updateDeviceSrgv(deviceSrgv); + if (!deviceSrgv.getCurrSite().equals("000000")){ + deviceSrgvService.updateDeviceSrgv(deviceSrgv); + } } for (String tsjCode : PlcTsjRead.deviceTsjMap.keySet()) { DeviceTsj deviceTsj = PlcTsjRead.deviceTsjMap.get(tsjCode); 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 384a4f9..67f8f06 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 @@ -18,6 +18,7 @@ import com.ruoyi.common.domain.SendData2; import com.ruoyi.common.utils.spring.SpringUtils; import com.ruoyi.device.srgv.domain.DeviceSrgv; import com.ruoyi.device.srgv.service.IDeviceSrgvService; +import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.job.charg.domain.SrgvChargingJob; import com.ruoyi.job.charg.service.ISrgvChargingJobService; import com.ruoyi.job.domain.JobCallBack; @@ -30,6 +31,7 @@ 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 com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import lombok.extern.slf4j.Slf4j; import java.text.SimpleDateFormat; @@ -65,7 +67,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { private IBasCargoSpaceService basCargoSpaceService; public IDeviceSrgvService deviceSrgvService; - private int taskCache = 450001; + private int taskCache = 30001; public void init() { sRgvCodeList = new HashMap<>(); @@ -280,14 +282,35 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { endSite = "tsj"; } WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap(); + String cargoPlaceSite =""; + ConcurrentHashMap deviceSsjMap = PlcSsjRead.deviceSsjMap; + List outModelSSJ=new ArrayList<>(); + for (String deviceSsj : deviceSsjMap.keySet()) { + if (deviceSsj.equals("TD1001")||deviceSsj.equals("TD1008")) { + DeviceSsj deviceSsj1=deviceSsjMap.get(deviceSsj); + if (deviceSsj1.getModel()==2){ + String s=""; + if (deviceSsj1.equals("TD1001")){ + s="050101"; + }else { + s="070101"; + } + outModelSSJ.add(s); + } + } + } + cargoPlaceSite= wcsSagvQueueMapper.selectMinCountJob(outModelSSJ); + if (Objects.equals(cargoPlaceSite, "")){ + return; + } wcsSrgvMap1.setRemark(mydoJob1.getExitId()); + //TODO 读取输送机入出库模式分配出口 List wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1); - String cargoPlaceSite = wcsSrgvMaps1.get(0).getSiteId(); - + String cargoPlaceSite1 =cargoPlaceSite; List sameSiteDevices = deviceSrgvMap.values().stream() .filter(d -> d.getWorkMode() == 5 && d.getStatus() == 1 - && d.getCurrSite().equals(cargoPlaceSite)) + && d.getCurrSite().equals(cargoPlaceSite1)) .collect(Collectors.toList()); if (!sameSiteDevices.isEmpty() && !Objects.equals(sameSiteDevices.get(0).getDeviceId(), deviceSrgv.getDeviceId())) { WcsSrgvMap wcsSrgvMap3 = new WcsSrgvMap(); @@ -458,7 +481,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //生成占位小车到缓存点队列 WcsSrgvQueue wcsSrgvQueue3 = new WcsSrgvQueue(); wcsSrgvQueue3.setGuid(UUID.randomUUID().toString()); - wcsSrgvQueue3.setTaskNo(mydoJob1.getTaskNo()); + wcsSrgvQueue3.setTaskNo(String.valueOf(taskCache)); wcsSrgvQueue3.setTaskType("1"); wcsSrgvQueue3.setPriority(Long.parseLong("2")); wcsSrgvQueue3.setCargo("1"); @@ -474,6 +497,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSrgvQueue3.setDefault02("4"); wcsSrgvQueue3.setDefault07(sameSiteDevices.get(0).getCurrFloor().toString()); wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue3); + taskCache++; return; } } @@ -578,11 +602,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //计算最短路径 List shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite).getX(), arrByRoadSite.get(startSite).getY(), arrByRoadSite.get(endSite).getX(), arrByRoadSite.get(endSite).getY()); + // TODO 小车避让 目前只针对同层最多两台车 并且点位设置到了050201 判断地图中取的路径 不能直达说明有车阻挡 直接返回-1 用-1判断小车阻挡调离小车 if (shortestPath.size() == 1 && shortestPath.get(0)[0] == -1 && shortestPath.get(0)[1] == -1) { shortestPath = null; String endBlockAgv = null; DeviceSrgv endBlockDevice = null; - // TODO 通过arrByRoadSite 中的站点 查询是否存在其他车的站点，如果存在则生成其他车到避让点的队列 + if (arrByRoadSite != null && !arrByRoadSite.isEmpty()) { // 将arrByRoadSite转为String类型的Set（统一类型，方便匹配） Set roadSiteSet = arrByRoadSite.keySet().stream() @@ -621,19 +646,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { // 生成纯数字任务号（PLC要求），9 + HHmmss taskB.setTaskNo(String.valueOf(taskCache)); taskB.setAgvId(endBlockAgv); - taskB.setTaskType("1"); // 点到点移动 + taskB.setTaskType("4"); // 避让任务 taskB.setDefault02("4"); // 业务类型标识为点到点 taskB.setPriority(9L); // 高优先级，尽快避让 taskB.setIssued("0"); // 未下发 taskB.setExecutionStatus("1");// 初始状态 taskB.setStartSite(endBlockDevice.getCurrSite()); taskB.setCargoPickSite(endBlockDevice.getCurrSite()); - taskB.setCargoPlaceSite("05020" + endBlockDevice.getCurrFloor()); - taskB.setEndSite("05020" + endBlockDevice.getCurrFloor()); + taskB.setCargoPlaceSite(cacheMaps.get(0).getSiteId()); + taskB.setEndSite(cacheMaps.get(0).getSiteId()); taskB.setTheFloor(floor.toString()); - taskB.setDefault03(endBlockDevice.getCurrSite()); +// taskB.setDefault03(endBlockDevice.getCurrSite()); taskB.setDefault07(floor.toString()); - taskB.setDefault08("1");//避让任务，直接完成 +// taskB.setDefault08("1");//避让任务，直接完成 taskB.setCreateDate(DateUtil.now()); wcsSagvQueueMapper.insertWcsSrgvQueue(taskB); taskCache++; @@ -901,7 +926,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue); MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo())); //换层任务不修改执行阶段 - if (!wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) { + if (mydoJob!=null && !wcsSrgvQueue.getDefault02().equals("8") && !wcsSrgvQueue.getDefault02().equals("3")) { mydoJob.setExecutionPhase("3"); mydoJob.setStatus("3"); mydoJobService.updateMydoJob(mydoJob); @@ -1176,6 +1201,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo())); jobCallBack.setCreateTime(new Date()); jobCallBackService.insertJobCallBack(jobCallBack); + mydoJobService.insertHistory(mydoJob.getJobId()); mydoJobService.deleteMydoJobByJobId(mydoJob.getJobId()); } break; @@ -1183,6 +1209,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { case "2": MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo())); if (mydoJobOut != null) { + JobCallBack jobCallBack = new JobCallBack(); + jobCallBack.setType(wcsSrgvQueue.getDefault02()); + jobCallBack.setMydojobId(mydoJobOut.getJobId()); + jobCallBack.setStatus("0"); + jobCallBack.setTaskNo(Convert.toLong(mydoJobOut.getTaskNo())); + jobCallBack.setCreateTime(new Date()); + jobCallBackService.insertJobCallBack(jobCallBack); mydoJobService.insertHistory(mydoJobOut.getJobId()); mydoJobService.deleteMydoJobByJobId(mydoJobOut.getJobId()); } @@ -1207,9 +1240,15 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { //充电之类的，不知道用不用 + } else if ("4".equals(taskType)) { + { + wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); + } + } + //更新小车待机时间 - deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId()); +// deviceSrgvService.updateLastTimeByAgvId(wcsSrgvQueue.getAgvId()); } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread1.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread1.java new file mode 100644 index 0000000..2cd541a --- /dev/null +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread1.java @@ -0,0 +1,754 @@ +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.IdUtil; +import cn.hutool.core.util.ObjUtil; +import cn.hutool.core.util.StrUtil; +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.TaskStage; +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.service.ISrgvChargingJobService; +import com.ruoyi.job.domain.JobCallBack; +import com.ruoyi.job.domain.MydoJob; +import com.ruoyi.job.service.IJobCallBackService; +import com.ruoyi.job.service.IMydoJobService; +import com.ruoyi.queue.srgv.domain.WcsSrgvQueue; +import com.ruoyi.queue.srgv.service.IWcsSrgvQueueFinishService; +import com.ruoyi.queue.srgv.service.IWcsSrgvQueueService; +import com.ruoyi.queue.tsj.domain.TsjDeviceExecutionQueue; +import com.ruoyi.queue.tsj.service.ITsjDeviceExecutionQueueService; +import com.ruoyi.schedule.plcRead.srgv.PlcSrgvRead; +import com.ruoyi.schedule.plcRead.srgv.roadUtil.PathFinder; +import lombok.extern.slf4j.Slf4j; + +import java.util.*; +import java.util.stream.Collectors; + +import static com.ruoyi.common.TaskStage.FINISHED; +import static com.ruoyi.common.TaskStage.STAGE7; + +@Slf4j +public class BaseSRgvThread1 implements Runnable, SRgvThreadInterface { + + private IWcsSrgvMapService wcsSrgvMapService; + private IWcsSrgvQueueService wcsSrgvQueueService; + private ITsjDeviceExecutionQueueService tsjDeviceExecutionQueueService; + + private IMydoJobService mydoJobService; + + private RoadCacheService roadCacheService; + private IJobCallBackService jobCallBackService; + + public IWcsSrgvQueueFinishService wcsSagvQueueFinishMapper; + + public IWcsPortService wcsPortService; + + public ISrgvChargingJobService srgvChargingJobMapper; + + public boolean isRun = true; + + public HashMap> sRgvCodeList; + + public void init() { + sRgvCodeList = new HashMap<>(); + ArrayList sRgvCodes = new ArrayList<>(); + sRgvCodes.add("1"); + /*sRgvCodes.add("2"); + sRgvCodes.add("3");*/ + sRgvCodeList.put("srgv", sRgvCodes); + + wcsSagvQueueFinishMapper = SpringUtils.getBean(IWcsSrgvQueueFinishService.class); + wcsPortService = SpringUtils.getBean(IWcsPortService.class); + srgvChargingJobMapper = SpringUtils.getBean(ISrgvChargingJobService.class); + mydoJobService = SpringUtils.getBean(IMydoJobService.class); + wcsSrgvMapService = SpringUtils.getBean(IWcsSrgvMapService.class); + roadCacheService = SpringUtils.getBean(RoadCacheService.class); + wcsSrgvQueueService = SpringUtils.getBean(IWcsSrgvQueueService.class); + tsjDeviceExecutionQueueService = SpringUtils.getBean(ITsjDeviceExecutionQueueService.class); + } + + @Override + public void run() { + init(); + while (isRun) { + + for (String code : sRgvCodeList.get("srgv")) { + + try { + if (PlcSrgvRead.deviceSrgvMap.containsKey(code)) { + if (ObjUtil.isNotNull(PlcSrgvRead.deviceSrgvMap.get(code))) { + + DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(code); + + //selectCarForTask(); + createSrgvInOutQueue(); + srgvTask(deviceSrgv); + + } else { + log.error("小车设备为空"); + } + } + } catch (RuntimeException e) { + log.error(e.getMessage(), e); + } + + + } + + try { + Thread.sleep(1500); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + } + } + + + public void selectCarForTask() { + MydoJob mydoJob = mydoJobService.selectNoAllocatCar(); + /* + 选择执行任务的小车 + 优先级 目标层已有小车 > 1 层空闲小车 > 其他无任务层空闲小车 + */ + if (ObjUtil.isNotNull(mydoJob)) { + for (String srgvId : PlcSrgvRead.deviceSrgvMap.keySet()) { + DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(srgvId); + //如果小车空闲，选择小车 + if (deviceSrgv.getStatus() == 0) { + mydoJob.setCarId(srgvId); + mydoJob.setStatus("3"); + mydoJob.setStartTime(DateUtil.format(new Date(), "yyyy-MM-dd HH:mm:ss")); + /* + 根据选择的小车当前位置 确定mydojob的任务阶段 + */ + Integer floor = deviceSrgv.getCurrFloor(); + String currSite = deviceSrgv.getCurrSite(); + if (floor.equals(Convert.toInt(mydoJob.getRoadwayId()))) { + //小车所在楼层和任务开始楼层一致 3 5 + if (!currSite.equals(mydoJob.getCargoSpaceId())) { + mydoJob.setExecutionPhase("3"); + } else { + //判断目标楼层是不是1层 + if (!"1".equals(mydoJob.getTargetRoadwayId())) { + mydoJob.setExecutionPhase("5"); + } else { + mydoJob.setExecutionPhase("7"); + } + } + } else { + mydoJob.setExecutionPhase("1"); + } + mydoJobService.updateMydoJob(mydoJob); + } + } + } + + } + + /* 出库 + 1-2-3-5-6-7 车在其它层 && 取货目标在其它层 + 1-2-3-7 车在其它层 && 取货目标在1层 + 3-5-6-7 车在取货层 && 取货目标在其它层 + 3-7 车在取货层 && 层数为1 && 放货目标在1层 + */ + public void outQueue() { + } + + /* 入库 + 1-2-3-5-6-7 车在其它层 && 放货目标在其它层 + 1-2-3-7 车在其它层 && 放货目标在1层 + 3-5-6-7 车在1层 && 放货目标在其它层 + 3-7 车在1层 && 放货目标在1层 + 任务类型 方式 + 1 srgv 点对点 当前位置→本层电梯口 + 2 tsj 换层 取放 当前层→起点层 + 3 srgv 点对点 取货 当前位置->取货点 + 5 srgv 点对点 取货点->本层电梯口 + 6 tsj 换层 取放 取货层->放货层 + 7 srgv 点对点 放货 本层电梯口->放货点 + */ + public void createSrgvInOutQueue() { + MydoJob param = new MydoJob(); + param.setStatus("3"); + List mydoJobs = mydoJobService.selectMydoJobList(param); + if (CollUtil.isNotEmpty(mydoJobs)) { + for (MydoJob mydoJob : mydoJobs) { + if (StrUtil.isNotEmpty(mydoJob.getCarId())) { + //绑定任务小车 + DeviceSrgv deviceSrgv = PlcSrgvRead.deviceSrgvMap.get(mydoJob.getCarId()); + //开始小车任务阶段 + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE1.getCode())) { + /* + 当前位置→本层电梯口 srgv + 1. 调用 A * 算法规划层内最优路径（避开墙 0/4，走通道 2） + 2. 实时检测通道冲突（与其他小车路径不重叠） + 3. 移动到本层电梯口 + */ + String startSite = deviceSrgv.getCurrSite(); + Integer floor = deviceSrgv.getCurrFloor(); + String endSite = getTsjSiteIdByFloor(floor); + if (StrUtil.isEmpty(endSite)) { + log.info("生成tsj队列失败，未找到层数为{}电梯口", floor); + } else { + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + } + } + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE2.getCode())) { + /* + 本层电梯口→起点层电梯口 tsj + 1. 加入电梯排队队列（按任务优先级 + 到电梯口距离排序） + 2. 等待电梯空闲后占用电梯，跨层到 1 层 + 3. 电梯到达后，更新小车位置为(1,8,8) + */ + //生成tsj队列 + //根据位置判断列数 + String srcColumn = ""; + String tarColumn = ""; + Integer srcFloor = deviceSrgv.getCurrFloor(); + Integer tarFloor = Convert.toInt(mydoJob.getRoadwayId()); + String rwlx = ""; + int tsjQueue = createTsjQueue(Convert.toLong(mydoJob.getTaskNo()), srcFloor, srcColumn, tarFloor, tarColumn, mydoJob.getCarId(), rwlx); + if (tsjQueue > 0) { + log.info("生成tsj队列成功 rwh:{},srcC:{},srcF:{},tarC:{},tarF:{},rwlx:{}", mydoJob.getTaskNo(), srcColumn, srcFloor, tarColumn, tarFloor, rwlx); + } + } + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE3.getCode())) { + /* + 起点层电梯口(小车当前位置)→起点层作业点 srgv + 1. 规划 1 层电梯口到作业点的路径（1 层通道拥堵高发，优先走预设单向通道） + 2. 检查作业点占用状态（同一时间仅 1 台小车作业） + 3. 移动到作业点并锁定作业点 + */ + //生成srgv队列 + String startSite = getTsjSiteIdByFloor(Convert.toInt(mydoJob.getRoadwayId())); + String endSite = mydoJob.getCargoSpaceId(); + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + } + /*if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE4.getCode())) { + *//* + 作业点执行取/放货-> srgv + 1. 触发取货传感器，确认货物已装载 + 2. 更新任务状态为取货完成 + 3. 释放作业点（供其他小车使用） + *//* + String startSite = ""; + String endSite = ""; + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + }*/ + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE5.getCode())) { + /* + 作业点->起点层电梯口 srgv + 1. 规划作业点到电梯口的返程路径 + 2. 再次检测 1 层通道冲突（避免与新任务小车对向拥堵） + 3. 移动到 1 层电梯口 + */ + String startSite = ""; + String endSite = ""; + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + } + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE6.getCode())) { + /* + 起点层电梯口→目标层电梯口 tsj + 1. 加入电梯队列（按任务优先级排序，优先高优先级任务） + 2. 占用电梯跨层到目标层 + 3. 电梯到达后，更新小车位置为(目标层,8,8) + */ + //生成tsj队列 + String srcColumn = ""; + String tarColumn = ""; + Integer srcFloor = 0; + Integer tarFloor = 0; + String rwlx = ""; + int tsjQueue = createTsjQueue(Convert.toLong(mydoJob.getTaskNo()), srcFloor, srcColumn, tarFloor, tarColumn, mydoJob.getCarId(), rwlx); + if (tsjQueue > 0) { + log.info("生成tsj队列成功 rwh:{},srcC:{},srcF:{},tarC:{},tarF:{},rwlx:{}", mydoJob.getTaskNo(), srcColumn, srcFloor, tarColumn, tarFloor, rwlx); + } + } + if (mydoJob.getExecutionPhase().equals(STAGE7.getCode())) { + /* + 当前位置→目标货位 srgv + 1. 规划目标层电梯口到目标货位的路径 + 2. 检查目标货位状态（是否空闲，避免重复放货） + 3. 移动到目标货位，触发放货传感器 + */ + //生成srgv队列 + String startSite = deviceSrgv.getCurrSite(); + String endSite = mydoJob.getTargetCargoSpaceId(); + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + } + if (mydoJob.getExecutionPhase().equals(TaskStage.STAGE8.getCode())) { + /* + . 可选两种待命策略： + - 策略 1（优先高效）：回到目标层电梯口（就近待命，减少下一次任务跨层成本） + - 策略 2（优先均衡）：回到1 层作业点附近（适配高频 1 层出发任务） + 2. 更新小车状态为idle，清空当前任务 + */ + //生成srgv队列 + String startSite = ""; + String endSite = ""; + String rwlx = "4"; + int srgvQueue = createSrgvQueue(mydoJob, startSite, endSite, rwlx); + if (srgvQueue > 0) { + log.info("生成srgv队列成功 rwh:{},startSite:{},endSite:{}", mydoJob.getTaskNo(), startSite, endSite); + } + } + if (mydoJob.getExecutionPhase().equals(FINISHED.getCode())) { + //完成任务 + mydoJob.setFinishTime(DateUtil.formatDateTime(new Date())); + mydoJob.setStatus("4"); + mydoJobService.updateMydoJob(mydoJob); + mydoJobService.insertHistory(mydoJob.getJobId()); + JobCallBack jobCallBack = new JobCallBack(); + jobCallBack.setMydojobId(mydoJob.getJobId()); + jobCallBack.setStatus("0"); + if (Convert.toInt(mydoJob.getInOrOut()) < 20) { + jobCallBack.setType("1"); + } else { + jobCallBack.setType("2"); + } + jobCallBack.setTaskNo(Convert.toLong(mydoJob.getTaskNo())); + jobCallBack.setCreateTime(new Date()); + jobCallBackService.insertJobCallBack(jobCallBack); + } + } + } + + } + } + + /** + * 创建srgv队列 + * + * @param mydoJob 任务 + * @param startSite 源站 + * @param endSite 目的站 + * @param rwlx 任务类型 1-入库 2-出库 3-充电 4-点对点 + */ + private int createSrgvQueue(MydoJob mydoJob, String startSite, String endSite, String rwlx) { + WcsSrgvQueue queue = wcsSrgvQueueService.selectWcsSrgvQueueByTaskNo(mydoJob.getTaskNo()); + if (queue != null) { + return 0; + } + //生成srgv队列 + WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue(); + wcsSrgvQueue.setGuid(IdUtil.simpleUUID()); + wcsSrgvQueue.setTaskType("1"); + wcsSrgvQueue.setTaskNo(mydoJob.getTaskNo()); + wcsSrgvQueue.setPriority(2L); + wcsSrgvQueue.setCargo("0"); + wcsSrgvQueue.setIssued("0"); + wcsSrgvQueue.setExecutionStatus("0"); + wcsSrgvQueue.setCargoPickSite(mydoJob.getCargoSpaceId()); + wcsSrgvQueue.setCargoPlaceSite(mydoJob.getTargetCargoSpaceId()); + wcsSrgvQueue.setStartSite(startSite); + wcsSrgvQueue.setEndSite(endSite); + wcsSrgvQueue.setCreateDate(DateUtil.format(new Date(), "yyyy-MM-dd HH:mm:ss")); + wcsSrgvQueue.setAgvId(mydoJob.getCarId()); + wcsSrgvQueue.setDefault02(rwlx); + return wcsSrgvQueueService.insertWcsSrgvQueue(wcsSrgvQueue); + } + //出库 1-2-3-4-5-6-7-4-9 + + + /** + * 创建提升机队列 + * + * @param taskNo 任务编号 + * @param srcColumn 源列 + * @param srcFloor 源层 + * @param tarColumn 目标列 + * @param tarFloor 目标层 + * @param carId 小车id + * @param rwlx 任务类型 + */ + private int createTsjQueue(Long taskNo, Integer srcFloor, String srcColumn, Integer tarFloor, String tarColumn, String carId, String rwlx) { + TsjDeviceExecutionQueue queue = tsjDeviceExecutionQueueService.selectTsjDeviceExecutionQueueByRwh(taskNo); + if (ObjUtil.isNull(queue)) { + TsjDeviceExecutionQueue tsjDeviceExecutionQueue = new TsjDeviceExecutionQueue(); + tsjDeviceExecutionQueue.setGuid(IdUtil.simpleUUID()); + tsjDeviceExecutionQueue.setDeviceId(1L); + tsjDeviceExecutionQueue.setDeviceName("提升机"); + tsjDeviceExecutionQueue.setTaskNo(taskNo); + tsjDeviceExecutionQueue.setSrcColumn(srcColumn); + tsjDeviceExecutionQueue.setSrcLayer(Convert.toStr(srcFloor)); + tsjDeviceExecutionQueue.setTarColumn(tarColumn); + tsjDeviceExecutionQueue.setTarLayer(Convert.toStr(tarFloor)); + tsjDeviceExecutionQueue.setSendType("1"); + tsjDeviceExecutionQueue.setCreateDate(DateUtil.formatDateTime(new Date())); + tsjDeviceExecutionQueue.setSpare1(carId); + tsjDeviceExecutionQueue.setTaskType("1"); + tsjDeviceExecutionQueue.setRwlx(rwlx); + return tsjDeviceExecutionQueueService.insertTsjDeviceExecutionQueue(tsjDeviceExecutionQueue); + } + return 0; + } + + + private String getTsjSiteIdByFloor(int floor) { + String siteId = null; + switch (floor) { + case 1: + siteId = "040801"; + break; + case 2: + siteId = "040802"; + break; + case 3: + siteId = "040803"; + break; + case 4: + siteId = "040804"; + break; + case 5: + siteId = "040805"; + break; + case 6: + siteId = "040806"; + break; + case 7: + siteId = "040807"; + break; + case 8: + siteId = "040808"; + break; + default: + return null; + } + return siteId; + } + + /** + * 小车任务处理 + */ + private void srgvTask(DeviceSrgv deviceSrgv) { + //队列下发成功处理 + resQueue(deviceSrgv); + + //小车完成队列 + completeCarTask(deviceSrgv); + + //小车发送任务 + sendTask(deviceSrgv); + } + + /** + * 队列下发成功处理 + */ + private void resQueue(DeviceSrgv deviceSrgv) { + int taskNo = deviceSrgv.getTaskNo(); + String currSite = deviceSrgv.getCurrSite(); + Integer deviceId = deviceSrgv.getDeviceId(); + + if (taskNo > 999 && !"000000".equals(currSite)) { + WcsSrgvQueue param = new WcsSrgvQueue(); + param.setTaskNo(Convert.toStr(taskNo)); + param.setIssued("0"); + param.setAgvId(String.valueOf(deviceId)); + List wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param); + + if (CollUtil.isNotEmpty(wcsSrgvQueues)) { + WcsSrgvQueue wcsSrgvQueue = wcsSrgvQueues.get(0); + + + wcsSrgvQueue.setIssued("1"); + wcsSrgvQueue.setStartDate(DateUtil.now()); + wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue); + + } + } + + } + + + /** + * 小车完成队列 + */ + private void completeCarTask(DeviceSrgv deviceSrgv) { + //联机自动 + if (deviceSrgv.getWorkMode() == 4) { + WcsSrgvQueue param = new WcsSrgvQueue(); + param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId())); + param.setEndSite(deviceSrgv.getCurrSite());//目标点 + param.setIssued("1"); + param.setTaskNo(deviceSrgv.getTaskNo().toString()); + List wcsSagvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param);//查询到达目标的 + if (CollUtil.isNotEmpty(wcsSagvQueues)) { + WcsSrgvQueue wcsSrgvQueue = wcsSagvQueues.get(0); + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Convert.toLong(wcsSrgvQueue.getTaskNo())); + if (mydoJob != null) { + Integer floor = deviceSrgv.getCurrFloor(); + Integer startFloor = Convert.toInt(mydoJob.getRoadwayId()); + Integer endFloor = Convert.toInt(mydoJob.getTargetRoadwayId()); + if (Convert.toInt(mydoJob.getInOrOut()) < 20) { + //入库 + if ("1".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("2"); + mydoJobService.updateMydoJob(mydoJob); + } else if ("3".equals(mydoJob.getExecutionPhase())) { + if (floor.equals(endFloor)) { + mydoJob.setExecutionPhase("7"); + mydoJobService.updateMydoJob(mydoJob); + } else { + mydoJob.setExecutionPhase("5"); + mydoJobService.updateMydoJob(mydoJob); + } + } else if ("5".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("6"); + mydoJobService.updateMydoJob(mydoJob); + } else if ("7".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("8"); + mydoJobService.updateMydoJob(mydoJob); + } + + } else { + //出库 + if ("1".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("2"); + mydoJobService.updateMydoJob(mydoJob); + } else if ("3".equals(mydoJob.getExecutionPhase())) { + if (floor.equals(1)) { + mydoJob.setExecutionPhase("7"); + mydoJobService.updateMydoJob(mydoJob); + } else { + mydoJob.setExecutionPhase("5"); + mydoJobService.updateMydoJob(mydoJob); + } + } else if ("5".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("6"); + mydoJobService.updateMydoJob(mydoJob); + } else if ("7".equals(mydoJob.getExecutionPhase())) { + mydoJob.setExecutionPhase("8"); + mydoJobService.updateMydoJob(mydoJob); + } + } + wcsSrgvQueue.setExecutionStatus("4"); + wcsSrgvQueue.setUpdateTime(DateUtil.date()); + wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue); + wcsSrgvQueueService.insertHistory(wcsSrgvQueue.getTaskNo()); + wcsSrgvQueueService.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); + + } + } + } + } + + + /** + * 小车发送任务 + */ + private void sendTask(DeviceSrgv deviceSrgv) { + WcsSrgvQueue param = new WcsSrgvQueue(); + param.setIssued("0"); + param.setAgvId(deviceSrgv.getDeviceId().toString()); + List wcsSrgvQueues = wcsSrgvQueueService.selectWcsSrgvQueueList(param); + if (CollUtil.isEmpty(wcsSrgvQueues)) { + return; + } + for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) { + String agvId = wcsSrgvQueue.getAgvId(); + if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) { + String endSite = wcsSrgvQueue.getEndSite(); + String currSite = deviceSrgv.getCurrSite(); + //判断是否可以下发任务 + if ("0".equals(wcsSrgvQueue.getIssued())) { + sendPointToPointTask(deviceSrgv, wcsSrgvQueue, currSite, endSite); + } + } + } + + } + + /** + * 小车发送点对点任务 + */ + private void sendPointToPointTask(DeviceSrgv deviceSrgv, WcsSrgvQueue wcsSrgvQueue, String startSite, String endSite) { + Integer floor = deviceSrgv.getCurrFloor(); + //获取当前地图 + Map arrByRoadSite = roadCacheService.getArrByRoadSite(floor); + + //处理地图 + int[][] emptyMap = roadCacheService.handleMap(arrByRoadSite, deviceSrgv); + + //计算最短路径 + List shortestPath = PathFinder.findShortestPath(emptyMap, arrByRoadSite.get(startSite).getX(), arrByRoadSite.get(startSite).getY(), arrByRoadSite.get(endSite).getX(), arrByRoadSite.get(endSite).getY()); + + //判断是否能规划出最短路径 + if (shortestPath == null || shortestPath.isEmpty()) { + log.error("无法到达指定位置"); + return; + } + + //获取拐点路径 + List trun = PathFinder.extractInflectionPoints2(shortestPath); + + // 路径点拼接 + StringBuilder pathBuilder = new StringBuilder(); + if (!shortestPath.isEmpty()) { + for (int[] ints : shortestPath) { + WcsSrgvMap roadSiteByArr = roadCacheService.selectRoadSiteByArr(ints[0], ints[1], floor); + if (roadSiteByArr == null) { + log.error("无此站点 x y z :{},{},{}", ints[0], ints[1], floor); + throw new RuntimeException("点位信息错误"); + } + String site = roadSiteByArr.getSiteId(); + pathBuilder.append(site).append(","); + } + } + // 拐点拼接 + StringBuilder turnBuilder = new StringBuilder(); + if (!trun.isEmpty()) { + for (int[] ints : trun) { + WcsSrgvMap roadSiteByArr = roadCacheService.selectRoadSiteByArr(ints[0], ints[1], floor); + if (roadSiteByArr == null) { + log.error("无此站点 x y z :{},{},{}", ints[0], ints[1], floor); + throw new RuntimeException("点位信息错误"); + } + String site = roadSiteByArr.getSiteId(); + turnBuilder.append(site).append(","); + } + if (turnBuilder.length() > 0) { + turnBuilder.setLength(turnBuilder.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++) { + turnBuilder.append(",0"); + } + } + } + + List sendDataList = new ArrayList<>(); + if (!trun.isEmpty()) { + SendData2 path = new SendData2(); + path.setAddress("4000");//地址 + path.setData(startSite + "," + endSite + "," + turnBuilder); + 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); + if (b) { + wcsSrgvQueue.setPathInfo(pathBuilder.toString()); + wcsSrgvQueue.setTrunPath(turnBuilder.toString()); + wcsSrgvQueueService.updateWcsSrgvQueue(wcsSrgvQueue); + } else { + log.error("小车下发失败 taskNo:{}", wcsSrgvQueue.getTaskNo()); + } + } + + /** + * 小车发送任务 + */ + private boolean sendCarTask(List sendDataList, DeviceSrgv deviceSrgv) { + + boolean b = true; + + for (SendData2 sendData : sendDataList) { + String address = sendData.getAddress(); + String data = sendData.getData();// + + String[] split = data.split(","); + + int type = sendData.getType();//1单字 2双字 3字符串 + + //双字 + if (type == 2) { + int[] intData = Arrays.stream(split).map(String::trim).mapToInt(Integer::parseInt).toArray(); + boolean write = true;//PlcSrgvRead.Write(address, intData); + + if (!write) { + b = false; + break; + } + } + + + //单字 + if (type == 1) { + //String[]转为 short[] + short[] shortData = new short[split.length]; + for (int i = 0; i < split.length; i++) { + try { + shortData[i] = Short.parseShort(split[i].trim()); + } catch (NumberFormatException e) { + // 记录日志并设置默认值 + shortData[i] = 0; + } + } + + boolean write = true;//PlcSrgvRead.Write(address, shortData); + + if (!write) { + b = false; + break; + } + + } + } + + String collect = sendDataList.stream().map(li -> "{" + li.getAddress() + ":" + li.getData() + "}").collect(Collectors.joining(",")); + + log.info("小车：" + deviceSrgv.getDeviceId() + ",下发值：" + collect + ",,结果：" + b); + + return b; + } + + +} diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java index 307fcb4..883e2d1 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java @@ -124,7 +124,7 @@ public class SsjThread implements Runnable { } void inDispatch1(DeviceSsj deviceSsj) { - if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode())) { + if (deviceSsj.getRkqq() == 1 && StrUtil.isNotBlank(deviceSsj.getTrayCode().trim())) { //todo 查是否为入库模式，不是退回，是否超重 HashMap map = new HashMap<>(); map.put("trayCode", deviceSsj.getTrayCode()); @@ -136,6 +136,7 @@ public class SsjThread implements Runnable { mydoJob.setStatus("1"); mydoJob.setExecutionPhase("1"); mydoJob.setCreateTime(new Date()); + mydoJob.setTheFloor(mydoJob.getClassId()); if ("GS1002".equals(deviceSsj.getDeviceCode())) { mydoJob.setEntranceId("L1004"); } else { @@ -158,12 +159,9 @@ public class SsjThread implements Runnable { } else { int i = writeToSsj(deviceSsj.getPlcDbWriteAddress(), "0", 2, 2); 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 条码"+deviceSsj.getTrayCode()); } - } - - } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java index 94730f4..0a5f680 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/tsj/TsjThread.java @@ -117,8 +117,7 @@ public class TsjThread implements Runnable { 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) { - + if ((deviceSrgv.getCurrSite().equals("09050" + deviceSrgv.getCurrFloor()) ||deviceSrgv.getCurrSite().equals("10050" + 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); diff --git a/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml b/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml index fa25379..9181a4c 100644 --- a/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml +++ b/ruoyi-admin/src/main/resources/mapper/queue/WcsSrgvQueueMapper.xml @@ -85,7 +85,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" @@ -192,4 +192,24 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" + +