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产线输送机

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This commit is contained in:
张怡蓉
2025-09-25 09:19:46 +08:00
parent 8382e25d79
commit 345f1e00e5
8 changed files with 261 additions and 111 deletions
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40
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java
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@@ -99,32 +99,32 @@ public class Ddj2Thread implements Runnable {
if (ObjUtil.isNotNull(mydoJob)) {
//生成agv队列
AgvQueue agvQueue = apiService.createAgvQueue(inSsjDevice.getName(), mydoJob.getCargoSpaceId(),mydoJob.getTrayCode(),mydoJob.getTaskNo(),"1");
// 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");
// 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");
}
}
// 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");
// }
// }
}
}
}

25
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InSsjThread.java
View File

@@ -18,7 +18,7 @@ import java.util.HashMap;
import java.util.List;
/**
* 二楼入口线程 循环agv搬运完成状态的队列，找到作业，下发去向+任务号
* 二楼出入口输送线线程
*/
@Slf4j
public class Floor2InSsjThread implements Runnable {
@@ -34,9 +34,9 @@ public class Floor2InSsjThread implements Runnable {
public void init() {
ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("L1002");
ssjCodes.add("L1004");
ssjCodeList.put("in", ssjCodes);
ssjCodes.add("L1011");
ssjCodes.add("L1012");
ssjCodeList.put("inout", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService);
@@ -49,7 +49,7 @@ public class Floor2InSsjThread implements Runnable {
for (String type : ssjCodeList.keySet()) {
switch ( type){
case "in":
case "inout":
//生产线入库
for (String ssjCode : ssjCodeList.get(type)) {
try {
@@ -77,13 +77,18 @@ public class Floor2InSsjThread implements Runnable {
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.getTaskNo() > 0 && inSsjDevice.getRkqq() == 1) {
//查询货位 排列层
//如果输送机空闲
if (inSsjDevice.getKx() == 1) {
AgvQueue agvQueue = new AgvQueue();
agvQueue.setStatus("6");
agvQueue.setPositionCode2(inSsjDevice.getDeviceCode());
List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueue);
if(agvQueues.size()!=0){
//如果有这个输送机口的agv队列并请求放货（状态为6）
//查询入口 排列层
//生成堆垛机队列
}
}
}

4
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2OutSsjThread.java
View File

@@ -30,7 +30,7 @@ public class Floor2OutSsjThread implements Runnable {
ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("L1002");
ssjCodes.add("L1004");
ssjCodeList.put("in", ssjCodes);
ssjCodeList.put("roadwayssj", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService);
@@ -43,7 +43,7 @@ public class Floor2OutSsjThread implements Runnable {
for (String type : ssjCodeList.keySet()) {
switch ( type){
case "in":
case "roadwayssj":
//生产线入库
for (String ssjCode : ssjCodeList.get(type)) {
try {

153
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/LineSsjThread.java
View File

@@ -2,6 +2,7 @@ package com.ruoyi.schedule.scheduleTask.ssj.floor2;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpUtil;
import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.domain.SendData;
@@ -9,6 +10,7 @@ import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.device.ssj.domain.DeviceSsj;
import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.job.service.IMydoJobService;
import com.ruoyi.queue.agv.domain.AgvQueue;
import com.ruoyi.queue.agv.service.IAgvQueueService;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.util.Tools;
@@ -18,6 +20,9 @@ import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import static com.ruoyi.common.TaskStatusCode.TASK_EP_AGV;
import static com.ruoyi.schedule.plcRead.ssj.PlcSsjRead.deviceSsjMap;
/**
* 生产线输送机
* 生产线线程 检测到位+托盘条码+托盘大小 请求wms生成入库作业 。 循环作业表，检测有没有出库作业 ，生成agv搬运作业。
@@ -49,21 +54,21 @@ public class LineSsjThread implements Runnable {
@Override
public void run() {
init();
while (isRun){
while (isRun) {
for (String type : ssjCodeList.keySet()) {
switch ( type){
switch (type) {
case "line":
//生产线入库
for (String ssjCode : ssjCodeList.get(type)) {
try {
if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
inDispatch(PlcSsjRead.deviceSsjMap.get(ssjCode));
if (deviceSsjMap.containsKey(ssjCode)) {
inDispatch(deviceSsjMap.get(ssjCode));
} else {
log.error("设备不存在 ssjCode{}", ssjCode);
}
} catch (RuntimeException e) {
log.error(e.getMessage(),e);
log.error(e.getMessage(), e);
}
}
@@ -82,8 +87,8 @@ public class LineSsjThread implements Runnable {
public void inDispatch(DeviceSsj SsjDevice) {
//如果到位，扫到条码，托盘大小，执行阶段卡控一下（下发输送机后改执行阶段）
if (SsjDevice.getDw() == 1 && StrUtil.isNotBlank(SsjDevice.getTrayCode()) && SsjDevice.getTraySize() !=0 && SsjDevice.getTaskNo()<1000) {
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}",SsjDevice.getDeviceCode(),"产线到位",SsjDevice.getTrayCode(),SsjDevice.getTraySize());
if (SsjDevice.getDw() == 1 && StrUtil.isNotBlank(SsjDevice.getTrayCode()) && SsjDevice.getTraySize() != 0 && SsjDevice.getTaskNo() < 1000) {
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}", SsjDevice.getDeviceCode(), "产线到位", SsjDevice.getTrayCode(), SsjDevice.getTraySize());
//查作业，入如果已经有了，直接下发输送线
MydoJob mydoJob = new MydoJob();
@@ -93,20 +98,18 @@ public class LineSsjThread implements Runnable {
mydoJob.setExecutionPhase("0");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
//有作业，下发输送机任务号，覆盖任务号
if(mydoJobs.size()>0){
if (mydoJobs.size() > 0) {
mydoJob = mydoJobs.get(0);
SendData taskNo = new SendData(Tools.INT, mydoJob.getTaskNo());
byte[] bytes = Tools.sendData(taskNo);
int i = PlcSsjRead.WriteToSSJ(SsjDevice.getPlcDbWriteAddress(), bytes);
if (i==1){
mydoJob.setExecutionPhase("1");
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob.getTaskNo(),1,1);
if (i == 1) {
mydoJob.setExecutionPhase(TASK_EP_AGV);
mydoJobService.updateMydoJob(mydoJob);
log.info("G1005产线输送机下发任务号成功:"+mydoJob.getTaskNo());
log.info("G1005产线输送机下发任务号成功:" + mydoJob.getTaskNo());
}
}else {
} else {
//请求wms生成入库作业
HashMap<String, Object> paramMap = new HashMap<>();
@@ -117,29 +120,32 @@ public class LineSsjThread implements Runnable {
AjaxResult ajaxResult = apiService.createInMydoJob(paramMap);
if (ajaxResult.isSuccess()) {
//拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号
MydoJob mydoJob2 = (MydoJob) ajaxResult.get("mydoJob");
MydoJob mydoJob2 = (MydoJob) ajaxResult.get("data");
mydoJobService.insertMydoJob(mydoJob2);
SendData taskNo = new SendData(Tools.INT, mydoJob2.getTaskNo());
byte[] bytes = Tools.sendData(taskNo);
int i = PlcSsjRead.WriteToSSJ(SsjDevice.getPlcDbWriteAddress(), bytes);
if (i==1){
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
if (i == 1) {
mydoJob2.setExecutionPhase("1");
mydoJobService.updateMydoJob(mydoJob2);
log.info("G1005产线输送机下发任务号成功:"+mydoJob2.getTaskNo());
log.info("G1005产线输送机下发任务号成功:" + mydoJob2.getTaskNo());
}
} else if (ajaxResult.isError()) {
} else {
//超大,给plc下发错误信息，等待人工处理
//托盘大小对不上，给plc下发错误信息，等待人工处理
//码不对，给plc下发错误信息，等待人工处理
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),"0",Integer.valueOf(ajaxResult.get("code").toString()),2);
if (i == 1) {
log.info("G1005产线输送机下发错误信息成功");
}
}
}
}
if (SsjDevice.getDw() == 1 && StrUtil.isBlank(SsjDevice.getTrayCode()) && SsjDevice.getTraySize() !=0 && SsjDevice.getTaskNo()<1000) {
if (SsjDevice.getDw() == 1 && StrUtil.isBlank(SsjDevice.getTrayCode()) && SsjDevice.getTraySize() != 0 && SsjDevice.getTaskNo() < 1000) {
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}",SsjDevice.getDeviceCode(),"产线",SsjDevice.getTrayCode(),SsjDevice.getTraySize());
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}", SsjDevice.getDeviceCode(), "产线", SsjDevice.getTrayCode(), SsjDevice.getTraySize());
//查wcs有没作业，有下发给输送机任务号，覆盖任务号
MydoJob mydoJob = new MydoJob();
mydoJob.setInOrOut("1");
@@ -147,16 +153,107 @@ public class LineSsjThread implements Runnable {
mydoJob.setEntranceId("G1005");
mydoJob.setExecutionPhase("0");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
//没有，请求错误接口，找作业，返回成功，//拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号，shibai...
if (mydoJobs.size() > 0) {
mydoJob = mydoJobs.get(0);
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob.getTaskNo(),1,1);
if (i == 1) {
mydoJob.setExecutionPhase("1");
mydoJobService.updateMydoJob(mydoJob);
log.info("G1005产线输送机下发任务号成功:" + mydoJob.getTaskNo());
}
} else {
//没有，请求错误接口，找作业，返回成功，//拿到正常作业，插到wcs作业表，下发给输送机任务号，覆盖任务号，shibai...
HashMap<String, Object> paramMap = new HashMap<>();
paramMap.put("traySize", SsjDevice.getTraySize());
AjaxResult ajaxResult = apiService.selectMydoJobByNoTrayCode(paramMap);
if (ajaxResult.isSuccess()) {
MydoJob mydoJob2 = (MydoJob) ajaxResult.get("mydoJob");
mydoJobService.insertMydoJob(mydoJob2);
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
if (i == 1) {
mydoJob2.setExecutionPhase("1");
mydoJobService.updateMydoJob(mydoJob2);
log.info("G1005产线输送机下发任务号成功:" + mydoJob2.getTaskNo());
}
} else if (ajaxResult.isError()) {
//超大,给plc下发错误信息，等待人工处理
//托盘大小对不上，给plc下发错误信息，等待人工处理
//码不对，给plc下发错误信息，等待人工处理
int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),"0",Integer.valueOf(ajaxResult.get("code").toString()),2);
if (i == 1) {
log.info("G1005产线输送机下发错误信息成功");
}
}
}
}
if (SsjDevice.getDw() == 1 && SsjDevice.getTraySize() ==0 && SsjDevice.getTaskNo()>1000) {
if (SsjDevice.getDw() == 1 && SsjDevice.getTraySize() != 0 && StrUtil.isNotBlank(SsjDevice.getTrayCode()) && SsjDevice.getTaskNo() > 1000) {
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}", SsjDevice.getDeviceCode(), "产线", SsjDevice.getTrayCode(), SsjDevice.getTraySize());
//任务号查wcs作业，查巷道，看目标输送线是否空闲，查是否有出库作业，生成agv队列
MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(SsjDevice.getTaskNo()));
String deviceCode = "";
if (mydoJob != null) {
if ("1".equals(mydoJob.getRoadwayId())) {
deviceCode = "L1011";
} else {
deviceCode = "L1012";
}
int kx = deviceSsjMap.get(deviceCode).getKx();
MydoJob mydoJob1 = new MydoJob();
mydoJob1.setInOut("2");
mydoJob1.setStatus("3");
mydoJob1.setExitId(deviceCode);
List<MydoJob> mydoJob2 = mydoJobService.selectInOrOutMydoJobList(mydoJob1);
if (mydoJob2.size() == 0 && kx == 1 && "1".equals(mydoJob.getStatus())) {
//查是否有队列，如果有了请求放货修改为允许放货
AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(mydoJob.getJobId());
if (agvQueue != null && "1".equals(agvQueue.getStatus())) {
AjaxResult ajaxResult = apiService.continueTask(agvQueue);
if (ajaxResult.isSuccess()) {
agvQueue.setStatus("2");
agvQueueService.updateAgvQueue(agvQueue);
}
} else {
HashMap<String, String> paramMap = new HashMap<>();
paramMap.put("trayCode", mydoJob.getTrayCode());
paramMap.put("taskNo", mydoJob.getJobId());
paramMap.put("startPoint", "G1005");
paramMap.put("endPoint", deviceCode);
paramMap.put("traySize",String.valueOf(SsjDevice.getTraySize()));
AjaxResult ajaxResult = apiService.receiveAgvMoveJob(paramMap);
if (ajaxResult.isSuccess()) {
mydoJob.setStatus("3");
mydoJob.setExecutionPhase("2");
mydoJobService.updateMydoJob(mydoJob);
}
}
}
}
log.info("设备：{} 位置：{} 条码：{} 托盘大小：{}",SsjDevice.getDeviceCode(),"产线",SsjDevice.getTrayCode(),SsjDevice.getTraySize());
//任务号查wcs作业，查巷道，看目标输送线是否空闲
}
}
private static int writeToSsj(String address,String taskNo,int qx,int completed) {
int jym = Tools.getJYM(Integer.parseInt(taskNo), qx, 1);
SendData taskNoSendData = new SendData(Tools.INT, taskNo);
SendData qxSendData = new SendData(Tools.INT,qx);
SendData completedSendData = new SendData(Tools.INT, completed);
SendData jymSendData = new SendData(Tools.INT, jym);
byte[] bytes = Tools.sendData(taskNoSendData, qxSendData, completedSendData, jymSendData);
int i = PlcSsjRead.WriteToSSJ(address, bytes);
return i;
}
}