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wcs项目初始化

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liuhanqing
2025-09-17 14:11:04 +08:00
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150
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/agv/AgvDispatch.java Normal file
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package com.ruoyi.schedule.scheduleTask.agv;
import cn.hutool.core.util.IdUtil;
import cn.hutool.http.HttpUtil;
import java.io.IOException;
import java.util.HashMap;
import java.util.Map;
public class AgvDispatch {
// 基础URL
private final String baseUrl;
// 客户端编号
private String clientCode;
// 令牌号
private String tokenCode;
public AgvDispatch(String ip, int port) {
this.baseUrl = String.format("http://%s:%d/rcms/services/rest", ip, port);
}
public AgvDispatch(String baseUrl) {
this.baseUrl = baseUrl;
}
/**
* 生成唯一请求编号
*/
private String generateReqCode() {
return IdUtil.fastSimpleUUID();
}
// ------------------------------ 常用接口 ------------------------------
/**
* 2.1.1 生成任务单
* @param taskTyp 任务类型
* @param wbCode 工作位
* @param positionCodePath 位置路径
* @param podCode 货架编号
* @return 接口返回结果
*/
public String genAgvSchedulingTask(String taskTyp, String wbCode,
Object[] positionCodePath, String podCode) throws IOException {
String url = baseUrl + "/hikRpcService/genAgvSchedulingTask";
Map<String, Object> params = new HashMap<>();
params.put("taskTyp", taskTyp);
params.put("wbCode", wbCode);
params.put("positionCodePath", positionCodePath);
params.put("podCode", podCode);
return HttpUtil.post(url, params);
}
/**
* 2.1.2 继续执行任务
* @param taskCode 任务单号
* @return 接口返回结果
*/
public String continueTask(String taskCode) throws IOException {
String url = baseUrl + "/hikRpcService/continueTask";
Map<String, Object> params = new HashMap<>();
params.put("taskCode", taskCode);
return HttpUtil.post(url, params);
}
/**
* 2.1.3 取消任务
* @param taskCode 任务单号
* @param forceCancel 取消类型（0-直接放地上，1-软取消）
* @return 接口返回结果
*/
public String cancelTask(String taskCode, String forceCancel) throws IOException {
String url = baseUrl + "/hikRpcService/cancelTask";
Map<String, Object> params = new HashMap<>();
params.put("taskCode", taskCode);
params.put("forceCancel", forceCancel);
return HttpUtil.post(url, params);
}
// ------------------------------ 可选接口 ------------------------------
/**
* 3.1.1 任务优先级设置
* @param priorities 优先级列表
* @return 接口返回结果
*/
public String setTaskPriority(Object[] priorities) throws IOException {
String url = baseUrl + "/hikRpcService/setTaskPriority";
Map<String, Object> params = new HashMap<>();
params.put("priorities", priorities);
return HttpUtil.post(url, params);
}
/**
* 3.1.2 货架与位置绑定、解绑
* @param podCode 货架编号
* @param positionCode 位置编号
* @param indBind 1-绑定，0-解绑
* @return 接口返回结果
*/
public String bindPodAndBerth(String podCode, String positionCode, String indBind) throws IOException {
String url = baseUrl + "/hikRpcService/bindPodAndBerth";
Map<String, Object> params = new HashMap<>();
params.put("podCode", podCode);
params.put("positionCode", positionCode);
params.put("indBind", indBind);
return HttpUtil.post(url, params);
}
/**
* 3.1.9 查询任务状态
* @param taskCodes 任务单编号数组
* @return 接口返回结果
*/
public String queryTaskStatus(String[] taskCodes) throws IOException {
String url = baseUrl + "/hikRpcService/queryTaskStatus";
Map<String, Object> params = new HashMap<>();
params.put("taskCodes", taskCodes);
return HttpUtil.post(url, params);
}
/**
* 3.1.10 查询AGV状态
* @param mapCode 地图编号
* @return 接口返回结果
*/
public String queryAgvStatus(String mapCode) throws IOException {
String url = "http://" + baseUrl.split("//")[1].split("/")[0] + "/rcms-dps/rest/queryAgvStatus";
Map<String, Object> params = new HashMap<>();
params.put("mapCode", mapCode);
return HttpUtil.post(url, params);
}
/**
* 3.1.16 料箱出库TPS（CTU+分拨墙）
* @param taskTyp 任务类型（传1）
* @param data 任务数据列表
* @return 接口返回结果
*/
public String getOutPod(String taskTyp, Object[] data) throws IOException {
String url = baseUrl + "/hikTpsService/getOutPod";
Map<String, Object> params = new HashMap<>();
params.put("taskTyp", taskTyp);
params.put("data", data);
return HttpUtil.post(url, params);
}
}

200
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsInSsjThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
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.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Slf4j
public class BsInSsjThread implements Runnable {
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
public boolean isRun = true;
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
log.info("初始化臂式入库输送机");
//入库口
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1003");
ssjCodes.add("G1009");
ssjCodeList.put("ssjIn", ssjCodes);
//流利架
ArrayList<String> ssjCodes2 = new ArrayList<>();
ssjCodes2.add("fluent1-11");
ssjCodes2.add("fluent1-12");
ssjCodes2.add("fluent1-13");
ssjCodes2.add("fluent1-14");
ssjCodes2.add("fluent1-15");
ssjCodes2.add("fluent2-11");
ssjCodes2.add("fluent2-12");
ssjCodes2.add("fluent2-13");
ssjCodes2.add("fluent2-14");
ssjCodes2.add("fluent2-15");
ssjCodeList.put("fluentIn", ssjCodes2);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService);
}
@Override
public void run() {
init();
while (isRun) {
for (String type : ssjCodeList.keySet()) {
switch (type) {
case "ssjIn":
//正常入库
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
inDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
} catch (RuntimeException e) {
log.error(e.getMessage(), e);
}
}
break;
case "fluentIn":
//流利架 空料箱入库
for (String lljCode : ssjCodeList.get(type)) {
try {
inLljDispatch(lljCode);
} catch (RuntimeException e) {
log.error(e.getMessage(), e);
}
}
break;
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
/**
* 流利架空料箱入库
*
* @param lljCode
*/
private void inLljDispatch(String lljCode) {
//判断是否生成队列
AgvQueue agvQueueParam = new AgvQueue();
agvQueueParam.setPositionCode1(lljCode);
agvQueueParam.setStatus("0");
List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueueParam);
if (CollUtil.isNotEmpty(agvQueues)) {
for (AgvQueue agvQueue : agvQueues) {
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}
}
/**
* 输送线入库
*
* @param inSsjDevice
*/
public void inDispatch(DeviceSsj inSsjDevice) {
//如果入库请求1 并且 托盘码不为空
if (inSsjDevice.getDw()==1 && inSsjDevice.getRkqq() == 1 && StrUtil.isNotEmpty(inSsjDevice.getTrayCode())) {
//判断是否生成队列
AgvQueue agvQueueParam = new AgvQueue();
agvQueueParam.setWmsTraycode(inSsjDevice.getTrayCode());
//agvQueueParam.setStatus("0");
List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueueParam);
if (CollUtil.isEmpty(agvQueues)) {
//根据入口，查询对应的入库作业
MydoJob mydoJobParam = new MydoJob();
mydoJobParam.setStatus("1");
mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
MydoJob mydoJob = apiService.requestEnterByTrayCode(mydoJobParam);
if (ObjUtil.isNotNull(mydoJob)) {
//生成agv队列
AgvQueue agvQueue = apiService.createAgvQueue(inSsjDevice.getName(), mydoJob.getCargoSpaceId(),mydoJob.getTrayCode(),mydoJob.getTaskNo(),"1");
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue( agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}else {
AgvQueue agvQueue = agvQueues.get(0);
if ("0".equals(agvQueue.getStatus())){
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}
}
}
}

148
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsOutSsjThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.bas.fluent.domain.BasFluentFrame;
import com.ruoyi.bas.fluent.service.IBasFluentFrameService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
public class BsOutSsjThread implements Runnable {
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
private IBasFluentFrameService basFluentFrameService;
public boolean isRun = true;
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1004");
ssjCodes.add("G1010");
ssjCodeList.put("ssjOut", ssjCodes);
ArrayList<String> fluentOut = new ArrayList<>();
fluentOut.add("fluent1");
fluentOut.add("fluent2");
ssjCodeList.put("fluentOut", fluentOut);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
basFluentFrameService = SpringUtils.getBean(IBasFluentFrameService.class);
}
@Override
public void run() {
init();
while (isRun){
for (String type : ssjCodeList.keySet()) {
switch (type){
case "ssjOut":
//正常输送线出口
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
ssjOutDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}catch (Exception e){
log.error(e.getMessage(), e);
}
}
break;
case "fluentOut":
//流利架出口
for (String ssjCode : ssjCodeList.get(type)) {
try {
fluentOutDispatch(ssjCode);
}catch (Exception e){
log.error(e.getMessage(), e);
}
}
break;
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
/**
* 输送线出口
* @param outSsjDevice
*/
public void ssjOutDispatch(DeviceSsj outSsjDevice) {
//输送线出库
if (outSsjDevice.getKx()==1){
//查询对应的作业
AgvQueue agvQueue = new AgvQueue();
agvQueue.setPositionCode2(outSsjDevice.getDeviceCode());
agvQueue.setStatus("0");
List<AgvQueue> agvQueueList = agvQueueService.selectAgvQueueList(agvQueue);
if (CollUtil.isNotEmpty(agvQueueList)){
for (AgvQueue queue : agvQueueList) {
apiService.requestAgvQueue(queue);
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(queue);
}
}
}
}
/**
* todo 流利架出口
* @param outSsjDevice
*/
public void fluentOutDispatch(String outSsjDevice) {
//查询对应的作业
AgvQueue agvQueue = new AgvQueue();
agvQueue.setPositionCode2(outSsjDevice);
agvQueue.setStatus("0");
List<AgvQueue> agvQueueList = agvQueueService.selectAgvQueueList(agvQueue);
for (AgvQueue queue : agvQueueList) {
//修改实际流利架货位
BasFluentFrame basFluentFrame = basFluentFrameService.selectBasFluentFrameOrderByAllotNum(queue.getPositionCode2());
if (basFluentFrame != null){
queue.setPositionCode2(basFluentFrame.getLocationName());
agvQueueService.updateAgvQueue(queue);
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(queue);
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
queue.setStatus("1");
agvQueueService.updateAgvQueue(queue);
log.info("向CTU下入库库作业");
//更新流利架
basFluentFrame.setTrayCode(queue.getWmsTraycode());
basFluentFrame.setAllotNum(1L);
basFluentFrameService.updateBasFluentFrame(basFluentFrame);
}
}
}
}
}

119
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/bs/BsPickSsjTread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.bs;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.api.domain.RequestLog;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.bas.port.domain.WcsPort;
import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import static com.ruoyi.common.Constant.JOB_FINISH_URL;
@Slf4j
public class BsPickSsjTread implements Runnable{
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
private IWcsPortService wcsPortService;
public boolean isRun = true;
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G1006");
ssjCodes.add("G1012");
ssjCodeList.put("pick", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
wcsPortService = SpringUtils.getBean(IWcsPortService.class);
}
@Override
public void run() {
init();
while (isRun) {
for (String type : ssjCodeList.keySet()) {
if ("pick".equals(type)) {
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
pickDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}catch (Exception e){
log.error(e.getMessage(),e);
}
}
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
public void pickDispatch(DeviceSsj pickSsjDevice) {
if (pickSsjDevice.getDw() == 1 && pickSsjDevice.getTaskNo() > 0) {
WcsPort wcsPortParam = new WcsPort();
wcsPortParam.setPortCode(pickSsjDevice.getDeviceCode());
wcsPortParam.setPortType("1");
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPortParam);
if (CollUtil.isNotEmpty(wcsPorts)){
WcsPort wcsPort = wcsPorts.get(0);
if ("1".equals(wcsPort.getStatus())){
Map<String, Object> param = new HashMap<>();
param.put("taskNo", pickSsjDevice.getTaskNo());
param.put("wmsType", "2");
param.put("pickSsj", pickSsjDevice.getDeviceCode());
RequestLog requestLog = apiService.finishMydoJob(JOB_FINISH_URL, "出库任务到达拣选口", param);
if ("1".equals(requestLog.getIsSuccessful())){
wcsPort.setStatus("2");
wcsPortService.updateWcsPort(wcsPort);
}else {
log.error("任务失败{}", requestLog.getErrorDetails());
}
}
}
}
if (pickSsjDevice.getKx() == 1 && pickSsjDevice.getTaskNo() == 0){
WcsPort wcsPortParam = new WcsPort();
wcsPortParam.setPortCode(pickSsjDevice.getDeviceCode());
wcsPortParam.setPortType("1");
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPortParam);
if (CollUtil.isNotEmpty(wcsPorts)){
WcsPort wcsPort = wcsPorts.get(0);
if ("2".equals(wcsPort.getStatus())){
wcsPort.setStatus("1");
wcsPortService.updateWcsPort(wcsPort);
}
}
}
}
}

132
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsInSsjThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
public class JsInSsjThread implements Runnable {
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
public boolean isRun = true;
public void init() {
//todo 获取设备编码列表
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G2012");
ssjCodes.add("G3009");
ssjCodes.add("G3018");
ssjCodes.add("G4009");
ssjCodes.add("G4018");
ssjCodes.add("G5009");
ssjCodes.add("G5018");
ssjCodeList.put("in", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService);
}
@Override
public void run() {
init();
while (isRun){
for (String type : ssjCodeList.keySet()) {
switch ( type){
case "in":
//正常入库 尾箱回流 物料入库 空料箱入库
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
inDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
} catch (RuntimeException e) {
log.error(e.getMessage(),e);
}
}
break;
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
public void inDispatch(DeviceSsj inSsjDevice) {
//如果入库请求1 并且 托盘码不为空
if (inSsjDevice.getDw()==1 && inSsjDevice.getRkqq() == 1 && StrUtil.isNotEmpty(inSsjDevice.getTrayCode())) {
//判断是否生成队列
AgvQueue agvQueueParam = new AgvQueue();
agvQueueParam.setWmsTraycode(inSsjDevice.getTrayCode());
//agvQueueParam.setStatus("0");
List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueueParam);
if (CollUtil.isEmpty(agvQueues)) {
//根据入口，查询对应的入库作业
MydoJob mydoJobParam = new MydoJob();
mydoJobParam.setStatus("1");
mydoJobParam.setTrayCode(inSsjDevice.getTrayCode());
mydoJobParam.setEntranceId(inSsjDevice.getDeviceCode());
MydoJob mydoJob = apiService.requestEnterByTrayCode(mydoJobParam);
if (ObjUtil.isNotNull(mydoJob)) {
//生成agv队列
AgvQueue agvQueue = apiService.createAgvQueue(inSsjDevice.getName(), mydoJob.getCargoSpaceId(),mydoJob.getTrayCode(),mydoJob.getTaskNo(),"1");
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}else {
AgvQueue agvQueue = agvQueues.get(0);
if ("0".equals(agvQueue.getStatus())){
//请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}
}
}
}

135
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsOutSsjThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.api.domain.agv.continueTask.ContinueTaskRequest;
import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
public class JsOutSsjThread implements Runnable{
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
public boolean isRun = true;
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G2001");
ssjCodes.add("G3001");
ssjCodes.add("G3010");
ssjCodes.add("G4001");
ssjCodes.add("G4010");
ssjCodes.add("G5001");
ssjCodes.add("G5010");
ssjCodeList.put("ssjOut", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
}
@Override
public void run() {
init();
while (isRun){
for (String type : ssjCodeList.keySet()) {
switch (type){
case "ssjOut":
try {
//正常输送线出口
for (String ssjCode : ssjCodeList.get(type)) {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
ssjOutDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}
}catch (Exception e){
log.error(e.getMessage(), e);
}
break;
case "fluentOut":
//流利架出口(剪式没有)
break;
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
/**
* 输送线出口
* @param outSsjDevice
*/
public void ssjOutDispatch(DeviceSsj outSsjDevice) {
if (outSsjDevice.getKx()==1){
//查询对应的作业
AgvQueue agvQueue = new AgvQueue();
agvQueue.setPositionCode2(outSsjDevice.getDeviceCode());
agvQueue.setStatus("0");
List<AgvQueue> agvQueueList = agvQueueService.selectAgvQueueList(agvQueue);
if (CollUtil.isNotEmpty(agvQueueList)){
for (AgvQueue queue : agvQueueList) {
requestAgvQueue( queue);
}
}else {
log.info("ssjCode:{},没有待下发的出库任务", outSsjDevice.getDeviceCode());
}
}
}
/**
* 请求海康生成agv任务,并修改wms任务状态
* @param agvQueue
*/
private void requestAgvQueue(AgvQueue agvQueue) {
//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("CTU");
genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.genAgvSchedulingTask(genAgvSchedulingTaskRequest);
if (genAgvSchedulingTaskResponse.getCode() == 0){
//修改ctu执行状态
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业");
}
}
}

131
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/js/JsPickSsjTread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.js;
import cn.hutool.core.collection.CollUtil;
import com.ruoyi.api.domain.RequestLog;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.bas.port.domain.WcsPort;
import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import static com.ruoyi.common.Constant.JOB_FINISH_URL;
@Slf4j
public class JsPickSsjTread implements Runnable {
public HashMap<String, List<String>> ssjCodeList;
private IApiService apiService;
private IAgvQueueService agvQueueService;
private IWcsPortService wcsPortService;
public boolean isRun = true;
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("G5013");
ssjCodes.add("G5014");
ssjCodes.add("G5015");
ssjCodes.add("G5004");
ssjCodes.add("G5005");
ssjCodes.add("G5006");
ssjCodes.add("G4013");
ssjCodes.add("G4014");
ssjCodes.add("G4015");
ssjCodes.add("G4004");
ssjCodes.add("G4005");
ssjCodes.add("G4006");
ssjCodeList.put("pick", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
wcsPortService = SpringUtils.getBean(IWcsPortService.class);
}
@Override
public void run(){
init();
while (isRun){
for (String type : ssjCodeList.keySet()) {
if ("pick".equals(type)) {
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcRead.deviceMap.containsKey(ssjCode)) {
pickDispatch(PlcRead.deviceMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
}catch (Exception e){
log.error(e.getMessage(),e);
}
}
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
public void pickDispatch(DeviceSsj pickSsjDevice) {
if (pickSsjDevice.getDw() == 1 && pickSsjDevice.getTaskNo() > 0) {
WcsPort wcsPortParam = new WcsPort();
wcsPortParam.setPortCode(pickSsjDevice.getDeviceCode());
wcsPortParam.setPortType("1");
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPortParam);
if (CollUtil.isNotEmpty(wcsPorts)){
WcsPort wcsPort = wcsPorts.get(0);
if ("1".equals(wcsPort.getStatus())){
Map<String, Object> param = new HashMap<>();
param.put("taskNo", pickSsjDevice.getTaskNo());
param.put("wmsType", "2");
param.put("pickSsj", pickSsjDevice.getDeviceCode());
RequestLog requestLog = apiService.finishMydoJob(JOB_FINISH_URL, "出库任务到达拣选口", param);
if ("1".equals(requestLog.getIsSuccessful())){
wcsPort.setStatus("2");
wcsPortService.updateWcsPort(wcsPort);
}else {
log.error("任务失败{}", requestLog.getErrorDetails());
}
}
}
}
if (pickSsjDevice.getKx() == 1 && pickSsjDevice.getTaskNo() == 0){
WcsPort wcsPortParam = new WcsPort();
wcsPortParam.setPortCode(pickSsjDevice.getDeviceCode());
wcsPortParam.setPortType("1");
List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPortParam);
if (CollUtil.isNotEmpty(wcsPorts)){
WcsPort wcsPort = wcsPorts.get(0);
if ("2".equals(wcsPort.getStatus())){
wcsPort.setStatus("1");
wcsPortService.updateWcsPort(wcsPort);
}
}
}
}
}

95
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/monitor/CarMonitorThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.monitor;
import cn.hutool.core.util.ObjUtil;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.device.ssj.service.IDeviceSsjService;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
@Slf4j
public class CarMonitorThread implements Runnable {
private IDeviceSsjService deviceSsjService;
public boolean isRun = true;
public void init() {
deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class);
log.info("初始化服务 {}", deviceSsjService);
}
@Override
public void run() {
init();
while (isRun) {
for (String ssjCode : PlcRead.deviceMap.keySet()) {
try {
DeviceSsj deviceSsj = PlcRead.deviceMap.get(ssjCode);
if (ObjUtil.isNotNull(deviceSsj)){
switch (deviceSsj.getType()) {
case "1":
monitor1(deviceSsj);
break;
case "2":
monitor2(deviceSsj);
break;
case "3":
monitor3(deviceSsj);
break;
case "4":
monitor4(deviceSsj);
break;
}
}else {
log.error("设备不存在 {}", ssjCode);
}
} catch (Exception e) {
log.error(e.getMessage(), e);
}
}
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
/**
*其他输送机监控
* @param deviceSsj
*/
private void monitor4(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*入库输送机监控
* @param deviceSsj
*/
private void monitor3(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*拣选输送机监控
* @param deviceSsj
*/
private void monitor2(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*出库输送机监控
* @param deviceSsj
*/
private void monitor1(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
}

106
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/monitor/SsjMonitorThread.java Normal file
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package com.ruoyi.schedule.scheduleTask.ssj.monitor;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.util.ObjUtil;
import cn.hutool.core.util.StrUtil;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.device.ssj.service.IDeviceSsjService;
import com.ruoyi.schedule.plcRead.ssj.PlcRead;
import lombok.extern.slf4j.Slf4j;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@Slf4j
public class SsjMonitorThread implements Runnable {
private IDeviceSsjService deviceSsjService;
public boolean isRun = true;
public void init() {
deviceSsjService = SpringUtils.getBean(IDeviceSsjService.class);
log.info("初始化服务 {}", deviceSsjService);
}
@Override
public void run() {
init();
while (isRun) {
for (String ssjCode : PlcRead.deviceMap.keySet()) {
try {
DeviceSsj deviceSsj = PlcRead.deviceMap.get(ssjCode);
if (ObjUtil.isNotNull(deviceSsj)){
switch (deviceSsj.getType()) {
case "1":
monitor1(deviceSsj);
break;
case "2":
monitor2(deviceSsj);
break;
case "3":
monitor3(deviceSsj);
break;
case "4":
monitor4(deviceSsj);
break;
}
}else {
log.error("设备不存在 {}", ssjCode);
}
} catch (Exception e) {
log.error(e.getMessage(), e);
}
}
try {
Thread.sleep(15000);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
}
/**
*其他输送机监控
* @param deviceSsj
*/
private void monitor4(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*入库输送机监控
* @param deviceSsj
*/
private void monitor3(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*拣选输送机监控
* @param deviceSsj
*/
private void monitor2(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
/**
*出库输送机监控
* @param deviceSsj
*/
private void monitor1(DeviceSsj deviceSsj) {
deviceSsjService.updateDeviceSsj(deviceSsj);
}
}