From fa9386773f2b028618aa35bb8e99a9f44b90ba0c Mon Sep 17 00:00:00 2001 From: "1009473166@qq.com" <草拟吗23> Date: Wed, 18 Mar 2026 20:29:00 +0800 Subject: [PATCH] =?UTF-8?q?2026.3.18=20=E6=99=9A=20=E6=96=B0=E5=A2=9Eagv?= =?UTF-8?q?=E8=8E=B7=E5=8F=96=E8=BE=93=E9=80=81=E6=9C=BA=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ruoyi/api/controller/AgvController.java | 47 +++++++++++++++---- .../com/ruoyi/api/service/IApiService.java | 5 ++ .../api/service/impl/ApiServiceImpl.java | 21 +++++++++ .../queue/srgv/mapper/WcsSrgvQueueMapper.java | 1 + .../scheduleTask/srgv/BaseSRgvThread.java | 16 ++++--- 5 files changed, 75 insertions(+), 15 deletions(-) diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java b/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java index 5c8f84c..1d4fd87 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java @@ -1,14 +1,22 @@ package com.ruoyi.api.controller; +import cn.hutool.json.JSONUtil; import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest; import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse; +import com.ruoyi.api.mapper.RequestLogMapper; import com.ruoyi.api.service.IApiService; +import com.ruoyi.api.service.impl.RequestLogServiceImpl; +import com.ruoyi.common.annotation.RequestLog; import com.ruoyi.common.core.controller.BaseController; import com.ruoyi.common.core.domain.AjaxResult; +import com.ruoyi.device.ssj.domain.DeviceSsj; +import com.ruoyi.job.domain.MydoJob; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.web.bind.annotation.*; +import java.text.SimpleDateFormat; +import java.util.Date; import java.util.Map; /** @@ -18,13 +26,15 @@ import java.util.Map; @RequestMapping("/agv/api") @Slf4j public class AgvController extends BaseController { - + @Autowired + private RequestLogServiceImpl requestLogService; @Autowired private IApiService apiService; /** * agv执行状态返回接口 + * * @param request * @return */ @@ -34,15 +44,14 @@ public class AgvController extends BaseController { } - /** * agv搬运作业 - * @param param{ - * startPoint:起始点 - * endPoint:结束点 - * containerCode:容器编号 - * taskNo:任务号 - * } + * + * @param param{ startPoint:起始点 + * endPoint:结束点 + * containerCode:容器编号 + * taskNo:任务号 + * } * @return */ @PostMapping("/receiveAgvMoveJob") @@ -50,4 +59,26 @@ public class AgvController extends BaseController { return apiService.receiveAgvMoveJob(param); } + // agv 获取请求获取输送机空闲信号 + @PostMapping("/getDeviceMsg") + @RequestLog + public AjaxResult getDeviceMsg(@RequestBody Map param) { + DeviceSsj ssj = apiService.getDeviceMsg(param.get("taskNo")); + com.ruoyi.api.domain.RequestLog requestLog = new com.ruoyi.api.domain.RequestLog(); + requestLog.setRequestBody(JSONUtil.toJsonStr(param)); + requestLog.setRequestMethod("getDeviceMsg"); + requestLog.setIsSuccessful("1"); + requestLog.setRequestTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date())); + requestLog.setRequestUrl("http://192.168.188.236:8081/agv/api/getDeviceMsg"); + requestLog.setRequestMethod("post"); + requestLog.setSourceSystem("agv"); + requestLog.setTargetSystem("wcs"); + requestLog.setEndpoint("获取输送机信号"); + requestLog.setResponseBody(JSONUtil.toJsonStr(AjaxResult.success(ssj))); + requestLog.setResponseStatus("1"); + requestLogService.insertRequestLog(requestLog); + return AjaxResult.success(ssj); + } + + } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java index bf04c65..b45b162 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java @@ -12,6 +12,7 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRespons import com.ruoyi.api.domain.wcs2wms.JobParam; import com.ruoyi.api.domain.wcs2wms.ReceiveJob; import com.ruoyi.common.core.domain.AjaxResult; +import com.ruoyi.device.ssj.domain.DeviceSsj; import com.ruoyi.job.domain.MydoJob; import com.ruoyi.queue.agv.domain.AgvQueue; @@ -136,4 +137,8 @@ public interface IApiService AjaxResult allotSpace(JobParam jobParam); AjaxResult JobFinish(Map param); + + DeviceSsj getDeviceMsg(String taskNo); + + DeviceSsj getDeviceMsgSsj(String entranceId); } 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 2278dc5..46119b7 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 @@ -20,6 +20,8 @@ import com.ruoyi.api.domain.wcs2wms.ReceiveJob; import com.ruoyi.api.service.IApiService; import com.ruoyi.common.core.domain.AjaxResult; import com.ruoyi.common.utils.DateUtils; +import com.ruoyi.device.ssj.domain.DeviceSsj; +import com.ruoyi.device.ssj.service.IDeviceSsjService; import com.ruoyi.job.domain.MydoJob; import com.ruoyi.job.service.IMydoJobService; import com.ruoyi.queue.agv.domain.AgvQueue; @@ -51,6 +53,8 @@ public class ApiServiceImpl implements IApiService { private IAgvQueueService agvQueueService; @Autowired private IMydoJobService mydoJobService; + @Autowired + private IDeviceSsjService deviceSsjService; @@ -447,4 +451,21 @@ public class ApiServiceImpl implements IApiService { } + + @Override + public DeviceSsj getDeviceMsg(String taskNo) { + MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(taskNo)); + DeviceSsj ssj = new DeviceSsj(); + ssj.setDeviceCode(mydoJob.getEntranceId()); + List deviceSsjs = deviceSsjService.selectDeviceSsjList(ssj); + return deviceSsjs.get(0); + } + + @Override + public DeviceSsj getDeviceMsgSsj(String entranceId) { + DeviceSsj ssj = new DeviceSsj(); + ssj.setDeviceCode(entranceId); + List deviceSsjs = deviceSsjService.selectDeviceSsjList(ssj); + return deviceSsjs.get(0); + } } 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 3c58130..5b17a59 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 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 13c14f7..c250243 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 @@ -309,7 +309,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { minXDistance = currentXDistance; bestSrgv = srgv; log.info("楼层相等，找到更近小车(Y轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv); - } else if (currentYDistance == minYDistance) { + } + if (currentYDistance == minYDistance) { // 情况2：Y轴距离相同，比较X轴距离 if (currentXDistance < minXDistance) { minXDistance = currentXDistance; @@ -569,7 +570,8 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { minXDistance = currentXDistance; bestSrgv = srgv; log.info("楼层相等，找到更近小车(Y轴更优) Y距离{} X距离{} srgv:{}", currentYDistance, currentXDistance, srgv); - } else if (currentYDistance == minYDistance) { + } + if (currentYDistance == minYDistance) { // 情况2：Y轴距离相同，比较X轴距离 if (currentXDistance < minXDistance) { minXDistance = currentXDistance; @@ -1465,7 +1467,7 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { case "2": MydoJob mydoJobOut = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(wcsSrgvQueue.getTaskNo())); if (mydoJobOut != null && (cargoPlaceSite.equals(currSite))) { - log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]",wcsSrgvQueue.getTaskNo(),currSite,cargoPlaceSite); + log.info("1471 taskNo:[{}],currSite:[{}],cargoPlaceSite:[{}]", wcsSrgvQueue.getTaskNo(), currSite, cargoPlaceSite); JobCallBack jobCallBack = new JobCallBack(); jobCallBack.setType(wcsSrgvQueue.getDefault02()); jobCallBack.setMydojobId(mydoJobOut.getJobId()); @@ -1513,16 +1515,16 @@ public class BaseSRgvThread implements Runnable, SRgvThreadInterface { { wcsSagvQueueMapper.deleteWcsSrgvQueueByGuid(wcsSrgvQueue.getGuid()); } - // 如果是空车且 任务是点到点并且目标点是“070301” - }else if ("1".equals(taskType)&&wcsSrgvQueue.getDefault02().equals("4")&&wcsSrgvQueue.getEndSite().equals("070301")){ + // 如果是空车且 任务是点到点并且目标点是“070301” + } else if ("1".equals(taskType) && wcsSrgvQueue.getDefault02().equals("4") && wcsSrgvQueue.getEndSite().equals("070301")) { String endSite = ""; String xfType = ""; WcsSrgvMap wcsSrgvMapq = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPickSite); WcsSrgvMap wcsSrgvMapf = wcsSrgvMapService.selectWcsSrgvMapBySiteId(cargoPlaceSite); // 取货点地图和放货点地图不为空 if (wcsSrgvMapq != null && wcsSrgvMapf != null) { - //如果是同层，终点为取货点 - endSite = cargoPickSite; + //如果是同层，终点为取货点 + endSite = cargoPickSite; // 更新目标点，修改执行队列 wcsSrgvQueue.setEndSite(endSite); wcsSrgvQueue.setDefault02("4");