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Merge remote-tracking branch 'origin/main'

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liuhanqing
2025-12-01 09:29:38 +08:00
parent 1b67ebe5d9 21a6d830c2
commit d14b886a7f
3 changed files with 162 additions and 75 deletions
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2
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
View File

@@ -25,6 +25,8 @@ public interface IWcsSrgvQueueService
public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
/**
* 查询四向小车任务队列列表
*

229
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -127,13 +127,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
param.setJobType("1");
param.setAgvId(deviceSrgv.getDeviceId().toString());
List<SrgvChargingJob> srgvChargingJobs = srgvChargingJobMapper.selectSrgvChargingJobList(param);
if (CollUtil.isNotEmpty(srgvChargingJobs)){
if (CollUtil.isNotEmpty(srgvChargingJobs)) {
SrgvChargingJob srgvChargingJob = srgvChargingJobs.get(0);
String chargingSite = srgvChargingJob.getChargingSite();//充电桩站点
WcsSrgvQueue wcsSrgvQueueParam = new WcsSrgvQueue();
wcsSrgvQueueParam.setAgvId(deviceSrgv.getDeviceId().toString());
List<WcsSrgvQueue> wcsSrgvQueues = wcsSagvQueueMapper.selectWcsSrgvQueueList(wcsSrgvQueueParam);
if (CollUtil.isEmpty(wcsSrgvQueues)){
if (CollUtil.isEmpty(wcsSrgvQueues)) {
//生成队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
@@ -148,9 +148,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
WcsSrgvMap wcsSrgvMap = wcsSrgvMapService.selectWcsSrgvMapBySiteId(chargingSite);
if (wcsSrgvMap.getZ().equals(deviceSrgv.getCurrFloor())){
if (wcsSrgvMap.getZ().equals(deviceSrgv.getCurrFloor())) {
wcsSrgvQueue.setEndSite(chargingSite);
}else {
} else {
wcsSrgvQueue.setEndSite("tsj");
}
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
@@ -182,8 +182,91 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
* 生成出库小车队列
*/
private void createCarOutQueue() {
MydoJob mydoJob = new MydoJob();
mydoJob.setInOut("2");
mydoJob.setExecutionPhase("0");
mydoJob.setStatus("1");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
if (!mydoJobs.isEmpty()) {
MydoJob mydoJob1 = mydoJobs.get(0);
// 查询是否有已下发的该任务号队列
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
.sorted((d1, d2) -> Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d2.getCurrFloor())
- Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - d1.getCurrFloor()))
.collect(Collectors.toList());
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv = null;
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
//优先出库层，如果没有优先邻近层
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
break;
} else if (deviceSrgv == null || (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv1.getCurrFloor())) < (Math.abs(Integer.parseInt(mydoJob1.getTheFloor()) - deviceSrgv.getCurrFloor()))) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1;
}
}
}
if (deviceSrgv != null) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
//查询小车是否为取货楼层
String endSite = "";
String issued = "0";
String executionStatus = "1";
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
if (deviceSrgv.getCurrFloor().equals(wcsSrgvMaps.get(0).getTheLayer())) {
//终点是巷道口到位输送线
endSite = cargoPickSite;
if(cargoPickSite.equals(deviceSrgv.getCurrSite())){
issued="1";
executionStatus="3";
}
} else{
//终点是提升机
endSite = "tsj";
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
wcsSrgvMap1.setRemark(mydoJob1.getExitId());
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
wcsSrgvQueue.setDefault02("4");
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
}
}
}
}
@@ -199,70 +282,80 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
MydoJob mydoJob1 = mydoJobs.get(0);
// 查询是否有已下发的该任务号队列
WcsSrgvQueue wcsSrgvQueue1 = wcsSagvQueueMapper.selectWcsSrgvQueueByTaskNo(mydoJob1.getTaskNo());
if (wcsSrgvQueue1 == null) {
ConcurrentHashMap<String, DeviceSrgv> deviceSrgvMap = PlcSrgvRead.deviceSrgvMap;
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream().filter(deviceSrgv -> deviceSrgv.getStatus() == 1 && deviceSrgv.getWorkMode() == 4).collect(Collectors.toList());
List<DeviceSrgv> deviceSrgvList = deviceSrgvMap.values().stream()
.filter(deviceSrgv -> deviceSrgv.getWorkMode() == 4)
.sorted((d1, d2) -> d2.getCurrFloor().compareTo(d1.getCurrFloor()))
.collect(Collectors.toList());
if (!deviceSrgvList.isEmpty()) {
DeviceSrgv deviceSrgv =null;
DeviceSrgv deviceSrgv = null;
for (DeviceSrgv deviceSrgv1 : deviceSrgvList) {
WcsSrgvQueue wcsSrgvQueue = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (wcsSrgvQueue == null) {
//如果有currFloor等于mydoJob1的theFloor的就选择，如果没有选择deviceSrgvList中currFloor最小的
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
break; // 找到了相同楼层的直接选它
} else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
if (deviceSrgv1.getCurrFloor().toString().equals(mydoJob1.getTheFloor())) {
deviceSrgv = deviceSrgv1;
break; // 找到了相同楼层的直接选它
} else if (deviceSrgv == null || deviceSrgv1.getCurrFloor() < deviceSrgv.getCurrFloor()) {
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv1.getDeviceId().toString());
if (deviceSrgv1.getStatus() == 1 && wcsSrgvQueue2 == null) {
deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
}
}else{
return;
}
}
if (deviceSrgv != null) {
//查询1楼是否有空闲联机自动的小车,且1楼小车不在入库站点
String endSite = "";
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
WcsSrgvQueue wcsSrgvQueue2 = wcsSagvQueueMapper.selectWcsSrgvQueueByAgvId(deviceSrgv.getDeviceId().toString());
if (wcsSrgvQueue2 == null && deviceSrgv.getStatus() == 1) {
if (deviceSrgv.getCurrFloor() == 1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())) {
//终点是巷道口到位输送线
endSite = cargoPickSite;
//查询小车是否为1楼,且1楼小车不在入库站点
String endSite = "";
String issued = "0";
String executionStatus = "1";
WcsSrgvMap wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setRemark(mydoJob1.getEntranceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
//取货地址
String cargoPickSite = wcsSrgvMaps.get(0).getSiteId();
} else if (deviceSrgv.getCurrFloor() != 1 ) {
//终点是提升机
endSite = "tsj";
} else {
return;
if (deviceSrgv.getCurrFloor() == 1) {
endSite = cargoPickSite;
if (cargoPickSite.equals(deviceSrgv.getCurrSite())) {
// 小车已在取货点
issued = "1";
executionStatus = "3";
}
} else {
// 小车不在1楼
endSite = "tsj";
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued(issued);
wcsSrgvQueue.setExecutionStatus(executionStatus);
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
wcsSrgvQueue.setDefault02("4");
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
//生成小车取货队列
WcsSrgvQueue wcsSrgvQueue = new WcsSrgvQueue();
wcsSrgvQueue.setGuid(UUID.randomUUID().toString());
wcsSrgvQueue.setTaskNo(mydoJob1.getTaskNo());
wcsSrgvQueue.setTaskType("1");
wcsSrgvQueue.setPriority(Long.parseLong("2"));
wcsSrgvQueue.setCargo("1");
wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("1");
wcsSrgvQueue.setCargoPickSite(cargoPickSite);
WcsSrgvMap wcsSrgvMap1 = new WcsSrgvMap();
wcsSrgvMap1.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps1 = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap1);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps1.get(0).getSiteId());
wcsSrgvQueue.setStartSite(deviceSrgv.getCurrSite());
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setTheFloor(deviceSrgv.getCurrFloor().toString());
wcsSrgvQueue.setCreateDate(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
wcsSrgvQueue.setAgvId(deviceSrgv.getDeviceId().toString());
wcsSrgvQueue.setDefault02("4");
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
}
}
}
@@ -516,22 +609,9 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
* 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
* */
boolean taskFinishFlag = finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
if (taskFinishFlag) {
String spare2 = deviceSrgv.getSpare2();
if ("-".equals(spare2)) {
//换层 不删除队列
wcsSrgvQueue.setExecutionStatus("2");
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
} else {
WcsSrgvQueueFinish wcsSrgvQueueFinish = new WcsSrgvQueueFinish();
BeanUtil.copyProperties(wcsSrgvQueue, wcsSrgvQueueFinish);
wcsSrgvQueueFinish.setFinishDate(DateUtil.now());
wcsSagvQueueFinishMapper.insertWcsSrgvQueueFinish(wcsSrgvQueueFinish);
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
}
}
finishTaskByQueue(deviceSrgv.getCurrSite(), wcsSrgvQueue);
}
}
}
@@ -602,16 +682,19 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
//请求wms生成库存
break;
case "7"://移库，变动库存，删除队列，插入历史表
case "7"://移库，变动库存
break;
default:
break;
}
//删除队列，插入历史表
wcsSrgvQueue.setExecutionStatus("4");
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid());
} else {
//充电之类得 不知道用不用
}

6
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/SsjThread.java
View File

@@ -137,14 +137,16 @@ public class SsjThread implements Runnable {
mydoJob.setExecutionPhase("1");
mydoJob.setCreateTime(new Date());
if("GS1002".equals(deviceSsj.getDeviceCode())) {
mydoJob.setEntranceId("GS1002");
mydoJob.setEntranceId("L1004");
}else{
mydoJob.setEntranceId("GS1007");
mydoJob.setEntranceId("L1005");
}
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());
}
} else {