产线输送机

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

@@ -56,7 +56,7 @@ public interface IApiService
      * @param wmsTaskType 1-入库 2-出库 3-agv搬运
      * @return
      */
-    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType,String traySize);
+    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo);
 
         /**
          * 取消AGV任务

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

@@ -151,8 +151,9 @@ public class ApiServiceImpl implements IApiService {
         String startPoint = param.get("startPoint");
         String endPoint = param.get("endPoint");
         String traySize = param.get("traySize");
+        String wmsTaskNo = param.get("wmstaskNo");
 
-            AgvQueue agvQueue = createAgvQueue(startPoint,endPoint, param.get("trayCode"), param.get("taskNo"), "1",traySize);
+            AgvQueue agvQueue = createAgvQueue(startPoint,endPoint, param.get("trayCode"), param.get("taskNo"), "1",traySize,wmsTaskNo);
             GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue);
             if (genAgvSchedulingTaskResponse.getCode() == 0) {
                 return AjaxResult.success();
@@ -327,11 +328,11 @@ public class ApiServiceImpl implements IApiService {
      * @return
      */
     @Override
-    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType,String traySize) {
+    public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String taskCode,String wmsTaskType,String traySize,String wmsTaskNo) {
         //生成ctu执行队列
         AgvQueue agvQueue = new AgvQueue();
         String reqCode = IdUtil.fastSimpleUUID();
-        String taskCode = IdUtil.fastSimpleUUID();
+//        String taskCode = IdUtil.fastSimpleUUID();
         agvQueue.setReqCode(reqCode);
         agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date()));
         agvQueue.setAgvType("AGV");
@@ -403,10 +404,9 @@ public class ApiServiceImpl implements IApiService {
         genAgvSchedulingTaskRequest.setCtnrCode("0");
         genAgvSchedulingTaskRequest.setCtnrNum("0");
         genAgvSchedulingTaskRequest.setTaskMode("0");
-        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getWmsTaskNo());
+        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
         genAgvSchedulingTaskRequest.setAgvTyp("AGV");
         genAgvSchedulingTaskRequest.setPositionSelStrategy("0");
-        genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode());
         List<PositionCodeData> positionCodePath = new ArrayList<>();
         positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode1(), "0"));
         positionCodePath.add(new PositionCodeData(agvQueue.getPositionCode2(), "0"));

ruoyi-admin/src/main/java/com/ruoyi/device/ssj/domain/DeviceSsj.java

@@ -78,6 +78,9 @@ public class DeviceSsj extends BaseEntity
     @Excel(name = "托盘尺寸")
     private int traySize;
 
+    @Excel(name="允许放货")
+    private int allowPut;
+
 
 
 }

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

@@ -5,18 +5,24 @@ import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.common.core.domain.AjaxResult;
+import com.ruoyi.common.domain.SendData;
 import com.ruoyi.common.utils.spring.SpringUtils;
 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.device.ssj.domain.DeviceSsj;
 import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
+import com.ruoyi.schedule.plcRead.util.Tools;
 import lombok.extern.slf4j.Slf4j;
 
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 
+import static com.ruoyi.common.TaskStatusCode.TASK_EP_SSJ;
+
 /**
  * 二楼出入口输送线线程
  */
@@ -27,6 +33,7 @@ public class Floor2InSsjThread implements Runnable {
 
     private IApiService apiService;
     private IAgvQueueService agvQueueService;
+    private IMydoJobService mydoJobService;
 
     public boolean isRun = true;
 
@@ -39,6 +46,7 @@ public class Floor2InSsjThread implements Runnable {
         ssjCodeList.put("inout", ssjCodes);
         apiService = SpringUtils.getBean(IApiService.class);
         agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
         log.info("初始化服务 {}，{}", apiService, agvQueueService);
     }
 
@@ -80,17 +88,70 @@ public class Floor2InSsjThread implements Runnable {
         //如果输送机空闲
         if (inSsjDevice.getKx() == 1) {
             AgvQueue agvQueue = new AgvQueue();
-            agvQueue.setStatus("6");
+            agvQueue.setStatus("5");
             agvQueue.setPositionCode2(inSsjDevice.getDeviceCode());
             List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueue);
-            if(agvQueues.size()!=0){
+            //不允许放货
+            if(agvQueues.size()!=0 && inSsjDevice.getAllowPut()==0){
                 //如果有这个输送机口的agv队列并请求放货（状态为6）
-
+                int i = writeToSsj(inSsjDevice.getPlcDbWriteAddress(),"0",Integer.valueOf(agvQueues.get(0).getCtnrType()),1);
-
+                if(i==1){
+                    log.info(inSsjDevice.getDeviceCode()+"输送机下发请求放货成功");
+                }
+            }
+            //允许放货
+            if(agvQueues.size()!=0 && inSsjDevice.getAllowPut()==1 ){
+                log.info("设备：{}  位置：{}  任务号：{}  请求放货成功", inSsjDevice.getDeviceCode(), "输送线", agvQueues.get(0).getTaskCode());
+                AjaxResult ajaxResult = apiService.continueTask(agvQueues.get(0));
+                if(ajaxResult.isSuccess()) {
+                    agvQueues.get(0).setStatus("6");
+                    agvQueueService.updateAgvQueue(agvQueues.get(0));
+                }
             }
 
+        }
+//入库下发输送线
+        if(inSsjDevice.getKx()==0 && inSsjDevice.getTaskNo()==0){
+            AgvQueue agvQueue = new AgvQueue();
+            agvQueue.setStatus("7");
+            agvQueue.setPositionCode2(inSsjDevice.getDeviceCode());
+            List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueue);
+            int i=writeToSsj(inSsjDevice.getPlcDbWriteAddress(),agvQueue.getWmsTaskNo(),1,1);
+            if(i==1){
+                log.info(inSsjDevice.getDeviceCode()+"输送机下发任务号成功");
+                MydoJob mydoJob = mydoJobService.selectMydoJobByJobId(agvQueues.get(0).getTaskCode());
+                mydoJob.setExecutionPhase(TASK_EP_SSJ);
+                mydoJobService.updateMydoJob(mydoJob);
+                agvQueueService.insertHistory(agvQueues.get(0).getReqCode());
+                agvQueueService.deleteAgvQueueByReqCode(agvQueues.get(0).getReqCode());
+            }
 
         }
+//出库到位
+        if(inSsjDevice.getDw()==1 && inSsjDevice.getTaskNo()>0){
+            MydoJob mydoJob = new MydoJob();
+            mydoJob.setInOut("2");
+            mydoJob.setStatus("3");
+            mydoJob.setExitId(inSsjDevice.getDeviceCode());
+            List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
+            if(mydoJobs.size()>0){
+                log.info("设备：{}  位置：{}  任务号：{}  出库到位", inSsjDevice.getDeviceCode(), "输送线", mydoJobs.get(0).getTaskNo());
+                mydoJobService.insertHistory(mydoJobs.get(0).getJobId());
+                mydoJobService.deleteMydoJobByJobId(mydoJobs.get(0).getJobId());
+            }
+        }
+    }
+
+    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;
     }
 
 }

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

@@ -1,15 +1,28 @@
 package com.ruoyi.schedule.scheduleTask.ssj.floor2;
 
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.convert.Convert;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjUtil;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
+import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 import com.ruoyi.common.utils.spring.SpringUtils;
+import com.ruoyi.job.domain.MydoJob;
+import com.ruoyi.job.service.IMydoJobService;
 import com.ruoyi.queue.agv.service.IAgvQueueService;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
+import com.ruoyi.queue.ddj.domain.DdjDeviceExecutionQueue;
+import com.ruoyi.queue.ddj.service.IDdjDeviceExecutionQueueService;
 import com.ruoyi.schedule.plcRead.ssj.PlcSsjRead;
 import lombok.extern.slf4j.Slf4j;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.HashMap;
+
-import java.util.List;
+import static com.ruoyi.common.TaskStatusCode.*;
+import static com.ruoyi.common.TaskType.DDJ_RWLX_1;
+import static com.ruoyi.common.TaskType.DDJ_RWLX_3;
 
 /**
  * 二楼出库线程  检测当前巷道有没有入库作业，没有作业，生成堆垛机出库队列
@@ -18,10 +31,12 @@ import java.util.List;
 public class Floor2OutSsjThread implements Runnable {
 
     public HashMap<String, List<String>> ssjCodeList;
-
+    private final Map<String, List<Integer>> roadwayMap = new HashMap<>();
     private IApiService apiService;
     private IAgvQueueService agvQueueService;
-
+    private IMydoJobService mydoJobService;
+    private IBasCargoSpaceService basCargoSpaceService;
+    private IDdjDeviceExecutionQueueService ddjDeviceExecutionQueueService;
     public boolean isRun = true;
 
 
@@ -33,6 +48,12 @@ public class Floor2OutSsjThread implements Runnable {
         ssjCodeList.put("roadwayssj", ssjCodes);
         apiService = SpringUtils.getBean(IApiService.class);
         agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
+        basCargoSpaceService = SpringUtils.getBean(IBasCargoSpaceService.class);
+        ddjDeviceExecutionQueueService = SpringUtils.getBean(IDdjDeviceExecutionQueueService.class);
+        //初始化巷道口 排 列 层
+        roadwayMap.put("L1002", Arrays.asList(1, 1, 1));
+        roadwayMap.put("L1004", Arrays.asList(1, 1, 1));
         log.info("初始化服务 {}，{}", apiService, agvQueueService);
     }
 
@@ -70,14 +91,44 @@ public class Floor2OutSsjThread implements Runnable {
     }
 
 
-    public void inDispatch(DeviceSsj inSsjDevice) {
+    public void inDispatch(DeviceSsj roadSsjDevice) {
-        //如果入库请求1 并且 托盘码不为空
+        //如果到位，且任务号大于0
-        if (inSsjDevice.getDw() == 1 && inSsjDevice.getTaskNo() > 0 && inSsjDevice.getRkqq() == 1) {
+        if (roadSsjDevice.getDw()==1 && roadSsjDevice.getTaskNo()>0) {
-            //查询货位 排列层
+            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(roadSsjDevice.getTaskNo()));
+            if (ObjUtil.isNotNull(mydoJob) && mydoJob.getExecutionPhase().equals(TASK_EP_SSJ)) {
+                mydoJob.setExecutionPhase(TASK_EP_ROADWAY_SSJ);
+                mydoJobService.updateMydoJob(mydoJob);
+            }
+            if (ObjUtil.isNotNull(mydoJob) && mydoJob.getExecutionPhase().equals(TASK_EP_ROADWAY_SSJ)) {
+                List<DdjDeviceExecutionQueue> ddjDeviceExecutionQueues = ddjDeviceExecutionQueueService.selectDdjDeviceExecutionQueueListByRwlx(DDJ_RWLX_1, Convert.toInt(mydoJob.getRoadwayId()));
+                BasCargoSpace basCargoSpace = basCargoSpaceService.selectBasCargoSpaceByWmsCargoSpaceId(mydoJob.getCargoSpaceId());
+                List<Integer> pclList = roadwayMap.get(roadSsjDevice.getDeviceCode());
+                if (CollUtil.isEmpty(ddjDeviceExecutionQueues) && ObjUtil.isNotNull(basCargoSpace) && CollUtil.isNotEmpty(pclList)) {
+                    DdjDeviceExecutionQueue ddjDeviceExecutionQueue = new DdjDeviceExecutionQueue();
+                    ddjDeviceExecutionQueue.setUuid(IdUtil.simpleUUID());
+                    ddjDeviceExecutionQueue.setRwh(Convert.toLong(mydoJob.getTaskNo()));
+                    ddjDeviceExecutionQueue.setDevName(mydoJob.getRoadwayId());
+                    ddjDeviceExecutionQueue.setDevId(Convert.toInt(mydoJob.getRoadwayId()));
+                    ddjDeviceExecutionQueue.setRwzt(0);
+                    ddjDeviceExecutionQueue.setYph(pclList.get(0));
+                    ddjDeviceExecutionQueue.setYlh(pclList.get(1));
+                    ddjDeviceExecutionQueue.setYch(pclList.get(2));
+                    ddjDeviceExecutionQueue.setMbph(Convert.toInt(basCargoSpace.getThePlatoon()));
+                    ddjDeviceExecutionQueue.setMblh(Convert.toInt(basCargoSpace.getTheColumn()));
+                    ddjDeviceExecutionQueue.setMbch(Convert.toInt(basCargoSpace.getTheFloor()));
+                    ddjDeviceExecutionQueue.setDdjxf("0");
+                    ddjDeviceExecutionQueue.setMlfs(5);
+                    ddjDeviceExecutionQueue.setScsj(DateUtil.formatDateTime(DateUtil.date()));
+                    ddjDeviceExecutionQueue.setRwlx(DDJ_RWLX_3);
+                    ddjDeviceExecutionQueueService.insertDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
+
+                    mydoJob.setExecutionPhase(TASK_EP_DDJ);
+                    mydoJobService.updateMydoJob(mydoJob);
+                }
+
+            }
 
-            //查询入口 排列层
 
-            //生成堆垛机队列
 
         }
     }

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

@@ -48,6 +48,7 @@ public class LineSsjThread implements Runnable {
         inSsjList.add("L1012");
         apiService = SpringUtils.getBean(IApiService.class);
         agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
+        mydoJobService = SpringUtils.getBean(IMydoJobService.class);
         log.info("初始化服务 {}，{}", apiService, agvQueueService);
     }
 
@@ -225,6 +226,7 @@ public class LineSsjThread implements Runnable {
                         paramMap.put("startPoint", "G1005");
                         paramMap.put("endPoint", deviceCode);
                         paramMap.put("traySize",String.valueOf(SsjDevice.getTraySize()));
+                        paramMap.put("wmstaskNo",mydoJob.getTaskNo());
                         AjaxResult ajaxResult = apiService.receiveAgvMoveJob(paramMap);
                         if (ajaxResult.isSuccess()) {
                             mydoJob.setStatus("3");