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小车

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This commit is contained in:
张怡蓉
2025-11-27 10:05:41 +08:00
parent 7b48d380ef
commit ea85539f06
11 changed files with 207 additions and 110 deletions
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4
ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/mapper/WcsSrgvMapMapper.java
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@@ -19,6 +19,10 @@ public interface WcsSrgvMapMapper
*/
public WcsSrgvMap selectWcsSrgvMapByGuid(String guid);
public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId);
/**
* 查询小车点位地图表列表
*

4
ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/IWcsSrgvMapService.java
View File

@@ -19,6 +19,10 @@ public interface IWcsSrgvMapService
*/
public WcsSrgvMap selectWcsSrgvMapByGuid(String guid);
public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId);
/**
* 查询小车点位地图表列表
*

5
ruoyi-admin/src/main/java/com/ruoyi/bas/srgvmap/service/impl/WcsSrgvMapServiceImpl.java
View File

@@ -31,6 +31,11 @@ public class WcsSrgvMapServiceImpl implements IWcsSrgvMapService
return wcsSrgvMapMapper.selectWcsSrgvMapByGuid(guid);
}
@Override
public WcsSrgvMap selectWcsSrgvMapBySiteId(String siteId) {
return wcsSrgvMapMapper.selectWcsSrgvMapBySiteId(siteId);
}
/**
* 查询小车点位地图表列表
*

2
ruoyi-admin/src/main/java/com/ruoyi/job/domain/MydoJob.java
View File

@@ -89,4 +89,6 @@ public class MydoJob extends BaseEntity
private String trayCode;
private String inOut;
private String theFloor;
}

3
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/mapper/WcsSrgvQueueMapper.java
View File

@@ -23,6 +23,9 @@ public interface WcsSrgvQueueMapper
public WcsSrgvQueue selectWcsSrgvQueueByTaskNo(String taskNo);
public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
/**
* 查询四向小车任务队列列表
*

2
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/IWcsSrgvQueueService.java
View File

@@ -22,6 +22,8 @@ public interface IWcsSrgvQueueService
public WcsSrgvQueue selectWcsSrgvQueueByTaskNo(String taskNo);
public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId);
/**
* 查询四向小车任务队列列表

5
ruoyi-admin/src/main/java/com/ruoyi/queue/srgv/service/impl/WcsSrgvQueueServiceImpl.java
View File

@@ -45,6 +45,11 @@ public class WcsSrgvQueueServiceImpl implements IWcsSrgvQueueService
return wcsSrgvQueueMapper.selectWcsSrgvQueueByTaskNo(taskNo);
}
@Override
public WcsSrgvQueue selectWcsSrgvQueueByAgvId(String agvId) {
return wcsSrgvQueueMapper.selectWcsSrgvQueueByAgvId(agvId);
}
/**
* 查询四向小车任务队列列表
*

264
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/srgv/BaseSRgvThread.java
View File

@@ -25,6 +25,7 @@ import lombok.extern.slf4j.Slf4j;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@Slf4j
@@ -32,7 +33,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
public boolean isRun = true;
public HashMap<String, List<DeviceSrgv>> sRgvCodeList;
public HashMap<String, List<String>> sRgvCodeList;
public HashMap<String, List<String>> ssjCodeList;
@@ -51,12 +52,13 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
public RoadCacheService roadCacheService;
public void init() {
ArrayList<String> ssjCodes1 = new ArrayList<>();
ssjCodes1.add("L1004");
ssjCodes1.add("L1005");
ssjCodeList.put("road", ssjCodes1);
sRgvCodeList = new HashMap<>();
ArrayList<String> sRgvCodes = new ArrayList<>();
sRgvCodes.add("1");
sRgvCodes.add("2");
sRgvCodes.add("3");
sRgvCodeList.put("srgv", sRgvCodes);
}
@Override
@@ -64,28 +66,33 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
init();
while (isRun) {
for (String code : sRgvCodeList.keySet()) {
for (DeviceSrgv deviceSrgv : sRgvCodeList.get(code)) {
try {
if (ObjUtil.isNotNull(deviceSrgv)) {
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);
//循环所有楼层
for (int i = 1; i <= 8; i++) {
sRgvTask(deviceSrgv, i);
}
createCarInQueue(deviceSrgv);
createCarInQueue();
createCarOutQueue();
} else {
log.error("堆垛机设备为空");
}
} catch (RuntimeException e) {
log.error(e.getMessage(), e);
}
} catch (RuntimeException e) {
log.error(e.getMessage(), e);
}
}
@@ -100,12 +107,12 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
/**
* 四向小车任务处理
*/
private void sRgvTask(DeviceSrgv deviceSrgv,int floor) {
private void sRgvTask(DeviceSrgv deviceSrgv, int floor) {
//处理队列下发
resQueue(deviceSrgv,floor);
resQueue(deviceSrgv, floor);
//小车完成队列
completeCarTask(deviceSrgv,floor);
completeCarTask(deviceSrgv, floor);
//小车发送任务
sendTask(deviceSrgv, floor);
@@ -121,72 +128,83 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
/**
* 生成入库小车队列
*/
private void createCarInQueue(DeviceSrgv deviceSrgv) {
private void createCarInQueue() {
MydoJob mydoJob = new MydoJob();
mydoJob.setExecutionPhase("2");
List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob);
if(!mydoJobs.isEmpty()){
mydoJob.setInOut("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){
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());
if (!deviceSrgvList.isEmpty()) {
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()) {
deviceSrgv = deviceSrgv1; // 更新为更小楼层的小车
}
//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="";
String xfType="";
}else{
return;
}
}
WcsPort wcsPort = new WcsPort();
wcsPort.setPortType("4");
wcsPort.setPortRegion("1");
wcsPort.setPortCode(mydoJob1.getEntranceId());
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
//取货地址
String cargoPickSite=wcsPorts.get(0).getSpare4();
if(deviceSrgv.getCurrFloor()==1 && deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())){
//终点是巷道口到位输送线
endSite=cargoPickSite;
xfType="4";
}else if(deviceSrgv.getCurrFloor()!=1 && deviceSrgv.getWorkMode()==4 && deviceSrgv.getStatus()==1){
//终点是提升机口
WcsPort wcsPort1 = new WcsPort();
wcsPort1.setPortType("1");
wcsPort1.setPortRegion(deviceSrgv.getCurrFloor().toString());
List<WcsPort> wcsPorts1 = wcsPortService.selectWcsPortList(wcsPort1);
endSite=wcsPorts1.get(0).getSpare4();
xfType="8";
}else{
return;
}
//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();
//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 wcsSrgvMap = new WcsSrgvMap();
wcsSrgvMap.setCargoSpaceId(mydoJob1.getCargoSpaceId());
List<WcsSrgvMap> wcsSrgvMaps = wcsSrgvMapService.selectWcsSrgvMapList(wcsSrgvMap);
wcsSrgvQueue.setCargoPlaceSite(wcsSrgvMaps.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(xfType);
wcsSrgvQueue.setDefault07("1");
wcsSagvQueueMapper.insertWcsSrgvQueue(wcsSrgvQueue);
if (deviceSrgv.getCurrFloor() == 1 && !cargoPickSite.equals(deviceSrgv.getCurrSite())) {
//终点是巷道口到位输送线
endSite = cargoPickSite;
} else if (deviceSrgv.getCurrFloor() != 1 ) {
//终点是提升机
endSite = "tsj";
} else {
return;
}
//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);
}
}
}
@@ -205,7 +223,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
}
for (WcsSrgvQueue wcsSrgvQueue : wcsSrgvQueues) {
String agvId = wcsSrgvQueue.getAgvId();
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 5 && deviceSrgv.getAllowSend() == 1) {
if (agvId.equals(Convert.toStr(deviceSrgv.getDeviceId())) && deviceSrgv.getWorkMode() == 4 && deviceSrgv.getAllowSend() == 1) {
String startSite = wcsSrgvQueue.getStartSite();
String endSite = wcsSrgvQueue.getEndSite();
String currSite = deviceSrgv.getCurrSite();
@@ -679,21 +697,22 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
/**
* 小车完成队列
*/
private void completeCarTask(DeviceSrgv deviceSrgv,int floor) {
if (deviceSrgv.getWorkMode()==5){
private void completeCarTask(DeviceSrgv deviceSrgv, int floor) {
//联机自动
if (deviceSrgv.getWorkMode() == 4) {
//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))) {
if (deviceSrgv.getStatus() == 1) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setAgvId(Convert.toStr(deviceSrgv.getDeviceId()));
param.setEndSite(deviceSrgv.getCurrSite());//目标点
param.setIssued("1");
param.setExecutionStatus("1");//
param.setExecutionStatus("3");
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
* 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, floor);
@@ -719,56 +738,91 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
/**
* 队列完成
*
* @param currSite
* @param wcsSrgvQueue
* @param floor
* @return
*/
private boolean finishTaskByQueue(String currSite, WcsSrgvQueue wcsSrgvQueue, int floor) {
int result = 0;
//当前在放货站点
if(Objects.equals(currSite,wcsSrgvQueue.getEndSite())){
//如果，放货站点是提升机，记录提升机中转点
WcsPort wcsPort=new WcsPort();
wcsPort.setSpare4(currSite);
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
if(!wcsPorts.isEmpty()){
for(WcsPort wcsPort1:wcsPorts){
//出库任务、移库出库任务
WcsPort wcsPort2 = new WcsPort();
wcsPort2.setId(wcsPort1.getId());
wcsPort2.setStatus("1");//占用
wcsPort2.setSpare1(wcsSrgvQueue.getTaskNo());//任务号
if (Objects.equals(currSite, wcsSrgvQueue.getEndSite())) {
String taskType = wcsSrgvQueue.getTaskType();
String cargoPickSite = wcsSrgvQueue.getCargoPickSite();
String cargoPlaceSite = wcsSrgvQueue.getCargoPlaceSite();
wcsPort2.setSpare5("2");//出库 默认
//换层移库的货
//空车现在位置是取货位置（移库取货，入库取货，出库取货），满车现在是放货位置
if ("1".equals(taskType) && cargoPickSite.equals(currSite)) {
//修改队列起终点，下发类型，重新下发。怎么区分重新下发的类型是移库还是入库,还有可能是出库取货--》判断取货位置是否为入库点
if("21".equals(wcsSrgvQueue.getDefault05())){
//12代表换层移库的托盘
wcsPort2.setSpare5("4");//换层
// wcsTransitPoint1.setProductType("2");
//判断放货位置是否同一层，修改队列原层目标层，起终点
//查询放货位置层数
WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite);
WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite);
String endSite = "";
String xfType = "";
if (wcsSrgvMapq != null && wcsSrgvMapf != null) {
if (Objects.equals(wcsSrgvMapq.getTheLayer(), wcsSrgvMapf.getTheLayer())) {
//如果是同层，终点为放货点
endSite = cargoPlaceSite;
} else {
//不同层，终点为提升机
endSite = "tsj";
}
int i=wcsPortService.updateWcsPort(wcsPort2);
if ("L1004".equals(wcsSrgvMapq.getRemark()) || "L1005".equals(wcsSrgvMapq.getRemark())) {
xfType = "1";//入库
} else {
if ("L1004".equals(wcsSrgvMapf.getRemark()) || "L1005".equals(wcsSrgvMapf.getRemark())) {
xfType = "2";//出库
} else {
xfType = "7";//移库
}
}
wcsSrgvQueue.setExecutionStatus("4");
wcsSagvQueueMapper.insertHistory(wcsSrgvQueue.getTaskNo());
wcsSrgvQueue.setStartSite(currSite);
wcsSrgvQueue.setEndSite(endSite);
wcsSrgvQueue.setDefault02(xfType);
wcsSrgvQueue.setTheFloor(wcsSrgvMapq.getTheLayer().toString());
wcsSrgvQueue.setDefault07(wcsSrgvMapf.getTheLayer().toString());
wcsSrgvQueue.setIssued("0");
wcsSrgvQueue.setExecutionStatus("1");
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);
}
} else if ("2".equals(taskType) && cargoPlaceSite.equals(currSite)) {
//判断对列的任务类型
switch (wcsSrgvQueue.getDefault02()) {
case "1"://入库，插库存，
//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
}
}else if(Objects.equals(currSite,wcsSrgvQueue.getEndSite()) && "2".equals(wcsSrgvQueue.getDefault02())){
//同层移库
String default02 = wcsSrgvQueue.getDefault02();
if(Objects.equals(default02,"4")){
//todo 完成队列，处理货位
break;
default:
break;
}
} else {
}
}
return false;
}
/**
* 队列处理
*
* @param deviceSrgv
*/
private void resQueue(DeviceSrgv deviceSrgv, int floor) {
@@ -776,7 +830,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
String currSite = deviceSrgv.getCurrSite();
Integer deviceId = deviceSrgv.getDeviceId();
if (taskNo>999 && !"000000".equals(currSite)){
if (taskNo > 999 && !"000000".equals(currSite)) {
WcsSrgvQueue param = new WcsSrgvQueue();
param.setTheFloor(Convert.toStr(floor));
param.setTaskNo(Convert.toStr(taskNo));
@@ -789,7 +843,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface {
String startSite = wcsSrgvQueue.getStartSite();
if (!startSite.equals(currSite)){
if (!startSite.equals(currSite)) {
wcsSrgvQueue.setIssued("1");
wcsSrgvQueue.setStartDate(DateUtil.now());
wcsSagvQueueMapper.updateWcsSrgvQueue(wcsSrgvQueue);