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产线输送机

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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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12
ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
View File

@@ -45,7 +45,7 @@ public interface IApiService
* WMS出库任务推送 * WMS出库任务推送
* @param receiveOutJob * @param receiveOutJob
*/ */
public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob); // public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob);
/** /**
* 生成agv队列 * 生成agv队列
@@ -56,7 +56,7 @@ public interface IApiService
* @param wmsTaskType 1-入库 2-出库 3-agv搬运 * @param wmsTaskType 1-入库 2-出库 3-agv搬运
* @return * @return
*/ */
public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType); public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType,String traySize);
/** /**
* 取消AGV任务 * 取消AGV任务
@@ -68,10 +68,10 @@ public interface IApiService
/** /**
* 继续AGV任务 * 继续AGV任务
* @param continueTaskRequest * @param agvQueue
* @return * @return
*/ */
public ContinueTaskResponse continueTask(ContinueTaskRequest continueTaskRequest); public AjaxResult continueTask(AgvQueue agvQueue);
/** /**
* 生成AGV生成任务 * 生成AGV生成任务
@@ -130,7 +130,7 @@ public interface IApiService
* WMS流利架入库任务推送 * WMS流利架入库任务推送
* @param receiveInJob * @param receiveInJob
*/ */
AjaxResult receiveInMydoJob(ReceiveJob receiveInJob); // AjaxResult receiveInMydoJob(ReceiveJob receiveInJob);
/** /**
@@ -159,5 +159,7 @@ public interface IApiService
*/ */
public AjaxResult createInMydoJob(Map<String, Object> param); public AjaxResult createInMydoJob(Map<String, Object> param);
public AjaxResult selectMydoJobByNoTrayCode(Map<String, Object> param);
public AjaxResult requestEnterByEnterIdAndTrayCode(); public AjaxResult requestEnterByEnterIdAndTrayCode();
} }

127
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -150,30 +150,15 @@ public class ApiServiceImpl implements IApiService {
public AjaxResult receiveAgvMoveJob(Map<String, String> param) { public AjaxResult receiveAgvMoveJob(Map<String, String> param) {
String startPoint = param.get("startPoint"); String startPoint = param.get("startPoint");
String endPoint = param.get("endPoint"); String endPoint = param.get("endPoint");
//todo 待调试 String traySize = param.get("traySize");
WcsPort startWcsPort = wcsPortService.selectWcsPortByPortCode(startPoint);
WcsPort endWcsPort = wcsPortService.selectWcsPortByPortCode(endPoint); AgvQueue agvQueue = createAgvQueue(startPoint,endPoint, param.get("trayCode"), param.get("taskNo"), "1",traySize);
if (ObjUtil.isNull(startWcsPort)){
return AjaxResult.error("起始点不存在");
}
if (ObjUtil.isNull(endWcsPort)){
return AjaxResult.error("结束点不存在");
}
if ("1".equals(startWcsPort.getStatus()) && "0".equals(endWcsPort.getStatus())){
AgvQueue agvQueue = createAgvQueue(startWcsPort.getSpare2(),endWcsPort.getSpare2(), param.get("containerCode"), param.get("taskNo"), "3");
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue); GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
if (genAgvSchedulingTaskResponse.getCode() == 0) { if (genAgvSchedulingTaskResponse.getCode() == 0) {
return AjaxResult.success(); return AjaxResult.success();
} }
return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage()); return AjaxResult.error(genAgvSchedulingTaskResponse.getMessage());
}
if ("0".equals(startWcsPort.getStatus())){
return AjaxResult.error("起始点位无容器");
}
if ("1".equals(endWcsPort.getStatus())){
return AjaxResult.error("目标点位有容器");
}
return AjaxResult.error();
} }
/** /**
@@ -223,6 +208,40 @@ public class ApiServiceImpl implements IApiService {
* @param request * @param request
*/ */
private void agvCallbackInfo(AgvCallbackRequest request) { private void agvCallbackInfo(AgvCallbackRequest request) {
AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(request.getTaskCode());
if (agvQueue != null ) {
String method = request.getMethod();
switch (method) {
case "applyin":
agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV请求取货】任务号：{}", request.getTaskCode());
break;
case "start":
agvQueue.setStatus("3");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV任务开始】任务号：{}", request.getTaskCode());
break;
case "outbin":
agvQueue.setStatus("4");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV走出储位】任务号：{}", request.getTaskCode());
break;
case "applyout":
agvQueue.setStatus("5");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV请求放货】任务号：{}", request.getTaskCode());
break;
case "end":
agvQueue.setStatus("7");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV任务结束】任务号：{}", request.getTaskCode());
break;
default:
log.info("未知方法");
}
}
} }
@@ -234,30 +253,30 @@ public class ApiServiceImpl implements IApiService {
* @param receiveOutJob * @param receiveOutJob
* @return * @return
*/ */
@Override // @Override
public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) { // public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) {
AgvQueue agvQueue = createAgvQueue(receiveOutJob.getCargoSpaceId(),receiveOutJob.getExitId(),receiveOutJob.getTrayCode(),receiveOutJob.getTaskNo(),"2"); // AgvQueue agvQueue = createAgvQueue(receiveOutJob.getCargoSpaceId(),receiveOutJob.getExitId(),receiveOutJob.getTrayCode(),receiveOutJob.getTaskNo(),"2");
if (agvQueue != null){ // if (agvQueue != null){
return AjaxResult.success(); // return AjaxResult.success();
}else { // }else {
return AjaxResult.error("生成agv任务失败"); // return AjaxResult.error("生成agv任务失败");
} // }
} // }
/** /**
* 接收流利架空料箱入库任务 * 接收流利架空料箱入库任务
* *
* @param receiveInJob * @param receiveInJob
* @return * @return
*/ */
@Override // @Override
public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) { // public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) {
AgvQueue agvQueue = createAgvQueue(receiveInJob.getEntranceId(),receiveInJob.getCargoSpaceId(),receiveInJob.getTrayCode(),receiveInJob.getTaskNo(),"1"); // AgvQueue agvQueue = createAgvQueue(receiveInJob.getEntranceId(),receiveInJob.getCargoSpaceId(),receiveInJob.getTrayCode(),receiveInJob.getTaskNo(),"1");
if (agvQueue != null){ // if (agvQueue != null){
return AjaxResult.success(); // return AjaxResult.success();
}else { // }else {
return AjaxResult.error("生成agv任务失败"); // return AjaxResult.error("生成agv任务失败");
} // }
} // }
/** /**
* 取消ctu任务 * 取消ctu任务
@@ -308,18 +327,18 @@ public class ApiServiceImpl implements IApiService {
* @return * @return
*/ */
@Override @Override
public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType) { public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType,String traySize) {
//生成ctu执行队列 //生成ctu执行队列
AgvQueue agvQueue = new AgvQueue(); AgvQueue agvQueue = new AgvQueue();
String reqCode = IdUtil.fastSimpleUUID(); String reqCode = IdUtil.fastSimpleUUID();
String taskCode = IdUtil.fastSimpleUUID(); String taskCode = IdUtil.fastSimpleUUID();
agvQueue.setReqCode(reqCode); agvQueue.setReqCode(reqCode);
agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date())); agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
agvQueue.setAgvType("CTU"); agvQueue.setAgvType("AGV");
agvQueue.setPositionCode1(code1); agvQueue.setPositionCode1(code1);
agvQueue.setPositionCode2(code2); agvQueue.setPositionCode2(code2);
agvQueue.setTaskType("F01"); agvQueue.setTaskType("F01");
agvQueue.setCtnrType("0"); agvQueue.setCtnrType(traySize);
agvQueue.setCtnrCode("0"); agvQueue.setCtnrCode("0");
agvQueue.setCtnrNum("0"); agvQueue.setCtnrNum("0");
agvQueue.setTaskMode("0"); agvQueue.setTaskMode("0");
@@ -348,13 +367,22 @@ public class ApiServiceImpl implements IApiService {
/** /**
* 继续agv任务 * 继续agv任务
* @param continueTaskRequest * @param agvQueue
* @return * @return
*/ */
@Override @Override
public ContinueTaskResponse continueTask(ContinueTaskRequest continueTaskRequest) { public AjaxResult continueTask(AgvQueue agvQueue) {
ContinueTaskRequest continueTaskRequest = new ContinueTaskRequest();
continueTaskRequest.setReqCode(IdUtil.fastSimpleUUID());
continueTaskRequest.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
continueTaskRequest.setTaskCode(agvQueue.getTaskCode());
RequestLog requestLog = requestLogService.getRequestLog(CONTINUE_TASK_URL, "继续执行任务", JSONUtil.toJsonStr(continueTaskRequest)); RequestLog requestLog = requestLogService.getRequestLog(CONTINUE_TASK_URL, "继续执行任务", JSONUtil.toJsonStr(continueTaskRequest));
return BeanUtil.toBean(requestLog.getResponseBody(), ContinueTaskResponse.class); if ("1".equals(requestLog.getIsSuccessful())){
return AjaxResult.success();
}else{
return AjaxResult.error();
}
} }
@@ -376,7 +404,7 @@ public class ApiServiceImpl implements IApiService {
genAgvSchedulingTaskRequest.setCtnrNum("0"); genAgvSchedulingTaskRequest.setCtnrNum("0");
genAgvSchedulingTaskRequest.setTaskMode("0"); genAgvSchedulingTaskRequest.setTaskMode("0");
genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getWmsTaskNo()); genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getWmsTaskNo());
genAgvSchedulingTaskRequest.setAgvTyp("CTU"); genAgvSchedulingTaskRequest.setAgvTyp("AGV");
genAgvSchedulingTaskRequest.setPositionSelStrategy("0"); genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode()); genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
List<PositionCodeData> positionCodePath = new ArrayList<>(); List<PositionCodeData> positionCodePath = new ArrayList<>();
@@ -400,4 +428,15 @@ public class ApiServiceImpl implements IApiService {
public AjaxResult requestEnterByEnterIdAndTrayCode() { public AjaxResult requestEnterByEnterIdAndTrayCode() {
return null; return null;
} }
@Override
public AjaxResult selectMydoJobByNoTrayCode(Map<String, Object> param) {
RequestLog requestLog = requestLogService.getRequestLog(REQUEST_MYDO_JOB_URL, "入库请求补码作业", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())) {
return AjaxResult.success();
} else {
return AjaxResult.error();
}
}
} }

2
ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java
View File

@@ -28,5 +28,7 @@ public class Constant {
public static final String SEND_TASK_STARTED = "http://127.0.0.1:8080/api2wms/startSignal"; public static final String SEND_TASK_STARTED = "http://127.0.0.1:8080/api2wms/startSignal";
public static final String TAKE_COMPLETED = "http://127.0.0.1:8080/api2wms/takeCompleted"; public static final String TAKE_COMPLETED = "http://127.0.0.1:8080/api2wms/takeCompleted";
public static final String CREATE_IN_MYDO_JOB_URL = "http://127.0.0.1:8080/api2wms/requestEnterByTrayCode"; public static final String CREATE_IN_MYDO_JOB_URL = "http://127.0.0.1:8080/api2wms/requestEnterByTrayCode";
public static final String REQUEST_MYDO_JOB_URL = "http://127.0.0.1:8080/api2wms/requestByNoTrayCode";
} }

9
ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java
View File

@@ -34,7 +34,7 @@ public class TaskStatusCode {
*/ */
public static final String TASK_EP_AGV = "1"; public static final String TASK_EP_AGV = "1";
/** /**
* 任务执行阶段 堆垛机 * 任务执行阶段 入口输送机
*/ */
public static final String TASK_EP_SSJ = "2"; public static final String TASK_EP_SSJ = "2";
/** /**
@@ -42,8 +42,13 @@ public class TaskStatusCode {
*/ */
public static final String TASK_EP_ROADWAY_SSJ = "3"; public static final String TASK_EP_ROADWAY_SSJ = "3";
/** /**
* 任务执行阶段 输送机 * 任务执行阶段 堆垛机
*/ */
public static final String TASK_EP_DDJ = "4"; public static final String TASK_EP_DDJ = "4";
/**
* 任务执行阶段 回传wms完成
*/
public static final String TASK_EP_WMS_FINISH = "5";
} }

40
ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java
View File

@@ -99,32 +99,32 @@ public class Ddj2Thread implements Runnable {
if (ObjUtil.isNotNull(mydoJob)) { if (ObjUtil.isNotNull(mydoJob)) {
//生成agv队列 //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 //请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue); // GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态 // //修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) { // if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态 // //修改ctu执行状态
agvQueue.setStatus("1"); // agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue); // agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业"); // log.info("向CTU下入库库作业");
} }
} }
}else { }else {
AgvQueue agvQueue = agvQueues.get(0); // AgvQueue agvQueue = agvQueues.get(0);
if ("0".equals(agvQueue.getStatus())){ // if ("0".equals(agvQueue.getStatus())){
//请求任务生成 // //请求任务生成
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue); // GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = apiService.requestAgvQueue(agvQueue);
//修改wms任务状态 // //修改wms任务状态
if (genAgvSchedulingTaskResponse.getCode() == 0) { // if (genAgvSchedulingTaskResponse.getCode() == 0) {
//修改ctu执行状态 // //修改ctu执行状态
agvQueue.setStatus("1"); // agvQueue.setStatus("1");
agvQueueService.updateAgvQueue(agvQueue); // agvQueueService.updateAgvQueue(agvQueue);
log.info("向CTU下入库库作业"); // 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; 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 @Slf4j
public class Floor2InSsjThread implements Runnable { public class Floor2InSsjThread implements Runnable {
@@ -34,9 +34,9 @@ public class Floor2InSsjThread implements Runnable {
public void init() { public void init() {
ssjCodeList = new HashMap<>(); ssjCodeList = new HashMap<>();
ArrayList<String> ssjCodes = new ArrayList<>(); ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("L1002"); ssjCodes.add("L1011");
ssjCodes.add("L1004"); ssjCodes.add("L1012");
ssjCodeList.put("in", ssjCodes); ssjCodeList.put("inout", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class); apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class); agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService); log.info("初始化服务 {}，{}", apiService, agvQueueService);
@@ -49,7 +49,7 @@ public class Floor2InSsjThread implements Runnable {
for (String type : ssjCodeList.keySet()) { for (String type : ssjCodeList.keySet()) {
switch ( type){ switch ( type){
case "in": case "inout":
//生产线入库 //生产线入库
for (String ssjCode : ssjCodeList.get(type)) { for (String ssjCode : ssjCodeList.get(type)) {
try { try {
@@ -77,13 +77,18 @@ public class Floor2InSsjThread implements Runnable {
public void inDispatch(DeviceSsj inSsjDevice) { public void inDispatch(DeviceSsj inSsjDevice) {
//如果入库请求1 并且 托盘码不为空 //如果输送机空闲
if (inSsjDevice.getDw() == 1 && inSsjDevice.getTaskNo() > 0 && inSsjDevice.getRkqq() == 1) { if (inSsjDevice.getKx() == 1) {
//查询货位 排列层 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<>(); ArrayList<String> ssjCodes = new ArrayList<>();
ssjCodes.add("L1002"); ssjCodes.add("L1002");
ssjCodes.add("L1004"); ssjCodes.add("L1004");
ssjCodeList.put("in", ssjCodes); ssjCodeList.put("roadwayssj", ssjCodes);
apiService = SpringUtils.getBean(IApiService.class); apiService = SpringUtils.getBean(IApiService.class);
agvQueueService = SpringUtils.getBean(IAgvQueueService.class); agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
log.info("初始化服务 {}，{}", apiService, agvQueueService); log.info("初始化服务 {}，{}", apiService, agvQueueService);
@@ -43,7 +43,7 @@ public class Floor2OutSsjThread implements Runnable {
for (String type : ssjCodeList.keySet()) { for (String type : ssjCodeList.keySet()) {
switch ( type){ switch ( type){
case "in": case "roadwayssj":
//生产线入库 //生产线入库
for (String ssjCode : ssjCodeList.get(type)) { for (String ssjCode : ssjCodeList.get(type)) {
try { 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.core.util.StrUtil;
import cn.hutool.http.HttpUtil; import cn.hutool.http.HttpUtil;
import com.ruoyi.api.domain.agv.continueTask.ContinueTaskResponse;
import com.ruoyi.api.service.IApiService; import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.core.domain.AjaxResult; import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.domain.SendData; 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.device.ssj.domain.DeviceSsj;
import com.ruoyi.job.domain.MydoJob; import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.job.service.IMydoJobService; import com.ruoyi.job.service.IMydoJobService;
import com.ruoyi.queue.agv.domain.AgvQueue;
import com.ruoyi.queue.agv.service.IAgvQueueService; import com.ruoyi.queue.agv.service.IAgvQueueService;
import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead; import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
import com.ruoyi.schedule.plcRead.util.Tools; import com.ruoyi.schedule.plcRead.util.Tools;
@@ -18,6 +20,9 @@ import java.util.ArrayList;
import java.util.HashMap; import java.util.HashMap;
import java.util.List; 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。 * 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 @Override
public void run() { public void run() {
init(); init();
while (isRun){ while (isRun) {
for (String type : ssjCodeList.keySet()) { for (String type : ssjCodeList.keySet()) {
switch ( type){ switch (type) {
case "line": case "line":
//生产线入库 //生产线入库
for (String ssjCode : ssjCodeList.get(type)) { for (String ssjCode : ssjCodeList.get(type)) {
try { try {
if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) { if (deviceSsjMap.containsKey(ssjCode)) {
inDispatch(PlcSsjRead.deviceSsjMap.get(ssjCode)); inDispatch(deviceSsjMap.get(ssjCode));
} else { } else {
log.error("设备不存在 ssjCode{}", ssjCode); log.error("设备不存在 ssjCode{}", ssjCode);
} }
} catch (RuntimeException e) { } 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) { 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） //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) { 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()); 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 //查作业，入如果已经有了，直接下发输送线
MydoJob mydoJob = new MydoJob(); MydoJob mydoJob = new MydoJob();
@@ -93,20 +98,18 @@ public class LineSsjThread implements Runnable {
mydoJob.setExecutionPhase("0"); mydoJob.setExecutionPhase("0");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob); List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
//有作业，下发输送机任务号，覆盖任务号 //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); mydoJob = mydoJobs.get(0);
SendData taskNo = new SendData(Tools.INT, mydoJob.getTaskNo()); int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob.getTaskNo(),1,1);
byte[] bytes = Tools.sendData(taskNo); if (i == 1) {
int i = PlcSsjRead.WriteToSSJ(SsjDevice.getPlcDbWriteAddress(), bytes); mydoJob.setExecutionPhase(TASK_EP_AGV);
if (i==1){
mydoJob.setExecutionPhase("1");
mydoJobService.updateMydoJob(mydoJob); 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 //请求wms生成入库作业
HashMap<String, Object> paramMap = new HashMap<>(); HashMap<String, Object> paramMap = new HashMap<>();
@@ -117,29 +120,32 @@ public class LineSsjThread implements Runnable {
AjaxResult ajaxResult = apiService.createInMydoJob(paramMap); AjaxResult ajaxResult = apiService.createInMydoJob(paramMap);
if (ajaxResult.isSuccess()) { 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 //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); mydoJobService.insertMydoJob(mydoJob2);
SendData taskNo = new SendData(Tools.INT, mydoJob2.getTaskNo()); int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
byte[] bytes = Tools.sendData(taskNo); if (i == 1) {
int i = PlcSsjRead.WriteToSSJ(SsjDevice.getPlcDbWriteAddress(), bytes);
if (i==1){
mydoJob2.setExecutionPhase("1"); mydoJob2.setExecutionPhase("1");
mydoJobService.updateMydoJob(mydoJob2); 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 //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 //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 //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 //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 mydoJob = new MydoJob();
mydoJob.setInOrOut("1"); mydoJob.setInOrOut("1");
@@ -147,16 +153,107 @@ public class LineSsjThread implements Runnable {
mydoJob.setEntranceId("G1005"); mydoJob.setEntranceId("G1005");
mydoJob.setExecutionPhase("0"); mydoJob.setExecutionPhase("0");
List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob); 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;
}
} }