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小车

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This commit is contained in:
张怡蓉
2026-03-19 15:08:50 +08:00
parent cafcde4a35
commit ad9f8d87fd
12 changed files with 298 additions and 151 deletions
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9
ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java
View File

@@ -7,6 +7,7 @@ import com.ruoyi.common.core.controller.BaseController;
import com.ruoyi.common.core.domain.AjaxResult;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.web.bind.annotation.*;
import java.util.Map;
@@ -46,8 +47,14 @@ public class AgvController extends BaseController {
* @return
*/
@PostMapping("/receiveAgvMoveJob")
public AjaxResult receiveAgvMoveJob(@RequestBody Map<String, String> param) {
public int receiveAgvMoveJob(@RequestBody Map<String, String> param) {
return apiService.receiveAgvMoveJob(param);
}
//@Scheduled(cron = "0/5 * * * * ?")
public void sendAgvTask(){
apiService.sendAgvTask();
}
}

264
ruoyi-admin/src/main/java/com/ruoyi/api/domain/agv/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
View File

@@ -14,143 +14,187 @@ import java.util.UUID;
@Data
public class GenAgvSchedulingTaskRequest {
/**
* 请求编号
* 同一个请求重复提交， 使用同一编号
* 起始站点
*/
@NotNull
private String reqCode = UUID.randomUUID().toString();
private String FromStation;
/**
* 请求时间
* 格式: “yyyy-MM-dd HH:mm:ss”
* 目的站点
*/
private String reqTime = LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"));
private String ToStation;
/**
* 客户端编号
* 客户端编号，如PDA，HCWMS等
* 任务类型（以实际的任务类型为准）
*/
private String clientCode;
private String Type;
/**
* 令牌号
* 由调度系统颁发
* 类名
*/
private String tokenCode;
private String ClassName;
/**
* 任务类型
* 内置任务类型:
* 厂内货架搬运: F01
* 厂内货架空满交换: F02
* 辊筒搬运接驳:F03
* 厂内货架出库AGV待命:F04
* 旋转货架: F05
* 厂内电梯任务: F06
* 以下为叉车专用任务类型
* 高位货架到工作台: F11
* 工作台到高位货架: F12
* 巷道到工作台: F13
* 工作台到巷道: F14
* 高位货架到工作台(接驳) : F15
* 工作台到高位货架 (接驳) : F16
* 巷道到工作台(接驳) : F17
* 工作台到巷道(接驳) : F18
* 叉车电梯主任务: F20
* 任务引导ID
*/
@NotNull
private String taskTyp;
private String TaskGuideId;
/**
* 容器类型（叉车/CTU专用） 叉车项目必传
* 订单 ID
*/
private String ctnrTyp;
private String OrderId;
/**
* 容器编号 (叉车/CTU专用）
* 触发ID
*/
private String ctnrCode; //
private String TriggerId;
/**
* 容器数量（叉车堆叠专用），默认值1，仅记录堆叠的数量不记录堆叠的每个容器号
* 扩展字段4
*/
private String ctnrNum;
private String Extend4;
/**
* 任务模式
* 0-普通move 1-出库move 2-入库move 3-移库move
* 扩展字段5
*/
private String taskMode;
private String Extend5;
/**
* 工作位
* 与RCS-2000端配置的位置名称一致, 工作位名称为字母\数字\或组合
* 扩展字段6
*/
private String wbCode;
private String Extend6;
/**
* 位置路径
* AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取
* 扩展字段7
*/
private List<PositionCodeData> positionCodePath;
private String Extend7;
/**
* 货架编号
* 不指定货架可以为空
* 扩展字段8
*/
private String podCode;
private String Extend8;
/**
* 货架方向
* “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下”
* 不指定方向可以为空
* 如果终点不是工作台或工作台未配置操作方向则货架拣货方向podDir作为终点方向
* 如果工作台配有操作方向，则系统会根据货架拣货方向podDir和工作台操作方向计算货架终点方向
* 扩展字段9
*/
private String podDir;
private String Extend9;
/**
* 货架类型, 传空时表示随机找个货架
* 找空货架传参方式如下：
* -1: 代表不关心货架类型, 找到空货架即可.
* -2: 代表从工作位获取关联货架类型, 如果未配置, 只找空货架.
* 货架类型编号: 只找该货架类型的空货架
* 任务附加信息
*/
private String podTyp;
private TaskAdditionallInfo TaskAdditionallInfo;
/**
* 物料批次
* 物料批次或货架上的物料唯一编码,生成任务单时,货架与物料直接绑定时使用. （通过同时传podCode和materialLot来绑定或通过 wbCode 找到位置上的货架和materialLot来绑定）
* 如果是区域/策略内查找货架，可以匹配对应物料批次的货架，支持以下值：
* 0：区域/策略内查找空货架
* 1：区域/策略内查找满货架
* 其他值：查找指定物料批次对应的货架
* 巷道任务通过该字段传入特征值
* 任务附加信息类
*/
private String materialLot;
/**
* 优先级
* 从（1~127）级，最大优先级最高。为空时，采用任务模板的优先级
*/
private String priority;
/**
* AGV编号
* 填写表示指定某一编号的AGV执行该任务
*/
private String agvCode;
/**
* 任务单号
* 选填, 不填系统自动生成
*/
private String taskCode;
/**
* 组编号
* CTU场景下用于按组出库，同组任务优先拼车。 如业务需要任务组间或组内按顺序出库，则需调用料箱顺序出库（CTU）接口。
* 潜伏式场景下，通过组号来管理顺序出库的顺序，组号小的优先出库。
*/
private String groupId;
/**
* 设备类型
*/
private String agvTyp;
/**
* 选择策略
* 区域/策略中挑选货架以及根据物料批次挑选货架时的先进先出规则，支持以下4个值：
* 1：按照货架到达储位的时间顺序，先进先出
* 2：按照货架到达储位的时间顺序，先进后出
* 9：按照货架绑定物料批次的时间顺序，先进先出
* 10：按照货架绑定物料批次的时间顺序，先进后出
*/
private String positionSelStrategy;
/**
* 自定义数据
*/
private String data;
@Data
public static class TaskAdditionallInfo {
/**
* 任务ID
*/
private String TaskId;
/**
* 库存ID
*/
private String StockId;
/**
* 任务引导ID
*/
private String TaskGuideId;
/**
* 触发ID
*/
private String TriggerId;
/**
* 下一任务添加阶段
*/
private String NextTaskAddStage;
/**
* 链ID
*/
private String ChainId;
/**
* 链类型
*/
private Integer ChainType;
/**
* 链排序
*/
private Integer ChainSort;
/**
* 图号
*/
private String FigureNo;
/**
* 尺寸
*/
private String Size;
/**
* 箱号
*/
private String BoxNo;
/**
* 物料
*/
private String Mater;
/**
* 相关数量
*/
private Integer RelatedCount;
/**
* 序列号
*/
private String SerialNo;
/**
* 重量
*/
private String Weight;
/**
* 站点号
*/
private String StationNo;
/**
* 手动计数
*/
private String HandCount;
/**
* 批次
*/
private String Batch;
/**
* 前置相关任务ID
*/
private String PreviousRelatedTaskId;
/**
* 下一相关任务ID
*/
private String NextRelatedTaskId;
/**
* 级联任务开始
*/
private String CascadeTaskBeginning;
/**
* 级联任务结束
*/
private String CascadeTaskEnding;
}
}

10
ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
View File

@@ -34,11 +34,11 @@ public interface IApiService
* @param code1 起点
* @param code2 终点
* @param wmsTrayCode 容器码 托盘料箱码/容器码
* @param wmsTaskNo mydojob 任务
* @param wmsTaskType 1-入库 2-出库 3-agv搬运
* @param type mydojob 任务
* @param jobId 1-入库 2-出库 3-agv搬运
* @return
*/
public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo);
public int createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String type,String jobId);
/**
* 取消AGV任务
@@ -76,7 +76,9 @@ public interface IApiService
* @param param
* @return
*/
AjaxResult receiveAgvMoveJob(Map<String, String> param);
int receiveAgvMoveJob(Map<String, String> param);
void sendAgvTask();
/**
* 任务到达拣选口

2
ruoyi-admin/src/main/java/com/ruoyi/api/service/IRequestLogService.java
View File

@@ -68,6 +68,8 @@ public interface IRequestLogService
*/
public RequestLog getRequestLog(String url, String param, String endPoint);
public RequestLog getRequestLogAgv(String url, String endPoint, String param);
/**
* 接收请求，并插入日志
* @param url

94
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -62,17 +62,22 @@ public class ApiServiceImpl implements IApiService {
*/
@Override
public GenAgvSchedulingTaskResponse genAgvSchedulingTask(GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
RequestLog requestLog = requestLogService.getRequestLog(GEN_AGV_SCHEDULING_TASK, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
RequestLog requestLog = requestLogService.getRequestLogAgv(CREATE_AGV_TASK_URL, "生成AGV任务", JSONUtil.toJsonStr(genAgvSchedulingTaskRequest));
if ("1".equals(requestLog.getIsSuccessful())) {
return BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskResponse.class);
GenAgvSchedulingTaskRequest bean = BeanUtil.toBean(requestLog.getResponseBody(), GenAgvSchedulingTaskRequest.class);
GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
response.setCode(0);
response.setMessage("请求成功");
response.setReqCode(genAgvSchedulingTaskRequest.getOrderId());
return response;
} else {
//todo 需要调试
GenAgvSchedulingTaskResponse response = new GenAgvSchedulingTaskResponse();
response.setCode(500);
response.setMessage("请求失败");
//todo 需要调试小车请求
response.setCode(0);
response.setMessage("模拟测试");
// response.setCode(0);
// response.setMessage("模拟测试");
return response;
}
}
@@ -111,18 +116,39 @@ public class ApiServiceImpl implements IApiService {
* @return
*/
@Override
public AjaxResult receiveAgvMoveJob(Map<String, String> param) {
public int receiveAgvMoveJob(Map<String, String> param) {
String startPoint = param.get("startPoint");
String endPoint = param.get("endPoint");
String traySize = param.get("traySize");
String wmsTaskNo = param.get("wmsTaskNo");
String type = param.get("type");
String jobId = param.get("jobId");
AgvQueue agvQueue = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), "1", traySize, wmsTaskNo);
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
if (genAgvSchedulingTaskResponse.getCode() == 0) {
return AjaxResult.success();
int i = createAgvQueue(startPoint, endPoint, param.get("trayCode"), param.get("taskNo"), type,jobId);
return i;
// GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
// if (genAgvSchedulingTaskResponse.getCode() == 0) {
// return AjaxResult.success();
// }
// return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
}
@Override
public void sendAgvTask() {
AgvQueue agvQueue = agvQueueService.selectAgvQueueByStatus();
if (agvQueue != null) {
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
if (genAgvSchedulingTaskResponse.getCode() == 0) {
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
agvQueueService.insertHistory(agvQueue.getReqCode());
}else{
agvQueue.setStatus("2");
agvQueueService.updateAgvQueue(agvQueue);
}
}
return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
}
@@ -242,12 +268,12 @@ public class ApiServiceImpl implements IApiService {
* @param code1 起点
* @param code2 终点
* @param wmsTrayCode 容器码 托盘料箱码/容器码
* @param wmsTaskNo mydojob 任务
* @param wmsTaskType 1-入库 2-出库 3-agv搬运
* @param type mydojob 任务
* @param jobId 1-入库 2-出库 3-agv搬运
* @return
*/
@Override
public AgvQueue createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode, String wmsTaskType, String traySize, String wmsTaskNo) {
public int createAgvQueue(String code1, String code2, String wmsTrayCode, String taskCode,String type,String jobId) {
//生成ctu执行队列
AgvQueue agvQueue = new AgvQueue();
String reqCode = IdUtil.fastSimpleUUID();
@@ -257,20 +283,21 @@ public class ApiServiceImpl implements IApiService {
agvQueue.setAgvType("AGV");
agvQueue.setPositionCode1(code1);
agvQueue.setPositionCode2(code2);
agvQueue.setTaskType("F01");
agvQueue.setCtnrType(traySize);
agvQueue.setTaskType(type);
agvQueue.setCtnrType("0");
agvQueue.setCtnrCode("0");
agvQueue.setCtnrNum("0");
agvQueue.setTaskMode("0");
agvQueue.setPriority("10");
agvQueue.setRequest("0");
agvQueue.setWmsTraycode(wmsTrayCode);
agvQueue.setWmsTaskNo(wmsTaskNo);
agvQueue.setWmsTaskNo(taskCode);
agvQueue.setStatus("0");
agvQueue.setTaskCode(taskCode);
agvQueue.setWmsTaskType(wmsTaskType);
agvQueueService.insertAgvQueue(agvQueue);
return agvQueue;
agvQueue.setTaskCode(jobId);
agvQueue.setWmsTaskType("0");
int i = agvQueueService.insertAgvQueue(agvQueue);
return i;
}
/**
@@ -317,20 +344,15 @@ public class ApiServiceImpl implements IApiService {
public GenAgvSchedulingTaskResponse requestAgvQueue(AgvQueue agvQueue) {
//todo 请求ctu
GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setPriority("10");
genAgvSchedulingTaskRequest.setTaskTyp("F01");
genAgvSchedulingTaskRequest.setCtnrCode("0");
genAgvSchedulingTaskRequest.setCtnrNum("0");
genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
genAgvSchedulingTaskRequest.setAgvTyp("AGV");
genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
List<PositionCodeData> positionCodePath = new ArrayList<>();
positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode1(), "0"));
positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode2(), "0"));
genAgvSchedulingTaskRequest.setPositionCodePath(positionCodePath);
genAgvSchedulingTaskRequest.setFromStation(agvQueue.getPositionCode1());
genAgvSchedulingTaskRequest.setToStation(agvQueue.getPositionCode2());
genAgvSchedulingTaskRequest.setOrderId(agvQueue.getTaskCode());
genAgvSchedulingTaskRequest.setType(agvQueue.getTaskType());
genAgvSchedulingTaskRequest.setTaskGuideId("00000000-0000-0000-0000-000000000000");
genAgvSchedulingTaskRequest.setTriggerId("00000000-0000-0000-0000-000000000000");
GenAgvSchedulingTaskRequest.TaskAdditionallInfo taskAdditionallInfo = new GenAgvSchedulingTaskRequest.TaskAdditionallInfo();
genAgvSchedulingTaskRequest.setTaskAdditionallInfo(taskAdditionallInfo);
return genAgvSchedulingTask(genAgvSchedulingTaskRequest);
}

53
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/RequestLogServiceImpl.java
View File

@@ -6,6 +6,8 @@ import java.util.List;
import cn.hutool.core.convert.Convert;
import cn.hutool.core.date.DateUnit;
import cn.hutool.core.date.DateUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import cn.hutool.http.HttpUtil;
import cn.hutool.json.JSONUtil;
import com.ruoyi.api.domain.InterfaceReceive;
@@ -137,6 +139,7 @@ public class RequestLogServiceImpl implements IRequestLogService
requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
requestLog.setIsSuccessful("1");
}else {
requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
requestLog.setResponseStatus("0");
requestLog.setErrorDetails(bean.getMsg());
requestLog.setIsSuccessful("0");
@@ -152,6 +155,56 @@ public class RequestLogServiceImpl implements IRequestLogService
return requestLog;
}
@Override
public RequestLog getRequestLogAgv(String url, String endPoint, String param) {
RequestLog requestLog = new RequestLog();
Date requestTime = new Date();
requestLog.setRequestTime(DateUtil.format(requestTime, "yyyy-MM-dd HH:mm:ss"));
requestLog.setSourceSystem("wms");
requestLog.setTargetSystem("agv");
requestLog.setEndpoint(endPoint);
requestLog.setRequestMethod("post");
requestLog.setRequestHeaders(null);
requestLog.setRequestBody(param);
requestLog.setRequestUrl(url);
try {
// 使用HttpRequest获取HTTP状态码
HttpResponse response = HttpRequest.post(url)
.body(param)
.timeout(5000)
.execute();
int httpStatusCode = response.getStatus();
String resStr = response.body();
requestLog.setResponseBody(resStr);
Date responseTime = new Date();
// 判断HTTP状态码是否成功(200-299都算成功)
if (httpStatusCode == 200) {
requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
requestLog.setResponseStatus(String.valueOf(httpStatusCode));
requestLog.setDuration(Convert.toStr(DateUtil.between(requestTime, responseTime, DateUnit.MS)));
requestLog.setIsSuccessful("1");
} else {
requestLog.setResponseTime(DateUtil.format(responseTime, "yyyy-MM-dd HH:mm:ss"));
requestLog.setResponseStatus(String.valueOf(httpStatusCode));
requestLog.setErrorDetails("HTTP请求失败，状态码: " + httpStatusCode);
requestLog.setIsSuccessful("0");
}
} catch (Exception e) {
requestLog.setErrorDetails(e.getMessage());
requestLog.setIsSuccessful("0");
requestLog.setResponseStatus("0");
} finally {
insertRequestLog(requestLog);
}
return requestLog;
}
/**
* 插入请求日志
*

2
ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
View File

@@ -5,6 +5,7 @@ public class Constant {
public static final String WMS_BASE_URL = "http://localhost:8080/api2wms/";
public static final String RCS_BASE_URL = "http://127.0.0.1:8081/rcms-dps/rest/";
public static final String AGV_BASE_URL = "http://127.0.0.1:9501/api/app/agvs-task";
public static final String JOB_FINISH_URL = WMS_BASE_URL+"jobFinish";
@@ -17,6 +18,7 @@ public class Constant {
public static final String RE_ASSIGN_URL = WMS_BASE_URL+"reAssign";
public static final String RE_MATERIAL_URL = WMS_BASE_URL+"reMaterial";
public static final String REQUEST_ENTER_URL = WMS_BASE_URL+"requestEnterByTrayCodeAndEntranceId";
public static final String CREATE_AGV_TASK_URL = AGV_BASE_URL+"agvs-task";
public static final String WAREHOUSE_01 = "01";

2
ruoyi-admin/src/main/java/com/ruoyi/queue/agv/mapper/AgvQueueMapper.java
View File

@@ -66,5 +66,7 @@ public interface AgvQueueMapper
*/
AgvQueue selectAgvQueueByTaskCode(String taskCode);
AgvQueue selectAgvQueueByStatus();
void insertHistory(String reqCode);
}

2
ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/IAgvQueueService.java
View File

@@ -66,6 +66,8 @@ public interface IAgvQueueService
*/
AgvQueue selectAgvQueueByTaskCode(String taskCode);
AgvQueue selectAgvQueueByStatus();
/**
* 插入agv完成历史
* @param reqCode

5
ruoyi-admin/src/main/java/com/ruoyi/queue/agv/service/impl/AgvQueueServiceImpl.java
View File

@@ -96,6 +96,11 @@ public class AgvQueueServiceImpl implements IAgvQueueService
return agvQueueMapper.selectAgvQueueByTaskCode(taskCode);
}
@Override
public AgvQueue selectAgvQueueByStatus() {
return agvQueueMapper.selectAgvQueueByStatus();
}
@Override
public void insertHistory(String reqCode) {
agvQueueMapper.insertHistory(reqCode);

5
ruoyi-admin/src/main/resources/mapper/device/AgvQueueMapper.xml
View File

@@ -62,6 +62,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
where task_code = #{taskCode}
</select>
<select id="selectAgvQueueByStatus" resultMap="AgvQueueResult">
select top(1)* from agv_queue
where status=0
</select>
<insert id="insertAgvQueue" parameterType="AgvQueue">
insert into agv_queue
<trim prefix="(" suffix=")" suffixOverrides=",">

1
ruoyi-framework/src/main/java/com/ruoyi/framework/config/SecurityConfig.java
View File

@@ -119,6 +119,7 @@ public class SecurityConfig
.antMatchers("/agv/api/**").permitAll()
.antMatchers("/device/api/**").permitAll()
.antMatchers("/wcs2Wms/api/**").permitAll()
.antMatchers("/agv/api/**").permitAll()
.antMatchers("/test/**").permitAll()
.antMatchers("/largeScreen/monitor/**").permitAll()
// 除上面外的所有请求全部需要鉴权认证