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堆垛机调度初始化

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liuhanqing
2025-09-22 16:12:18 +08:00
parent 1b44d350b0
commit baed4a312e
58 changed files with 3486 additions and 1228 deletions
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15
ruoyi-admin/src/main/java/com/ruoyi/api/controller/AgvController.java
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@@ -2,13 +2,9 @@ package com.ruoyi.api.controller;
import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackRequest;
import com.ruoyi.api.domain.agv.agvCallback.AgvCallbackResponse;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.common.core.controller.BaseController;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -39,17 +35,6 @@ public class AgvController extends BaseController {
/**
* agv搬运作业
* @param genAgvSchedulingTaskRequest
* @return
@PostMapping("/receiveAgvMoveJob")
public AjaxResult receiveAgvMoveJob(@RequestBody GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest) {
return apiService.receiveAgvMoveJob(genAgvSchedulingTaskRequest);
}*/
/**
* agv搬运作业
* @param param{

139
ruoyi-admin/src/main/java/com/ruoyi/api/domain/wcs2wms/MydoJob.java
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@@ -1,139 +0,0 @@
package com.ruoyi.api.domain.wcs2wms;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.ToString;
import org.apache.commons.lang3.builder.ToStringBuilder;
import org.apache.commons.lang3.builder.ToStringStyle;
import com.ruoyi.common.annotation.Excel;
import com.ruoyi.common.core.domain.BaseEntity;
/**
* 任务表对象 mydo_job
*
* @author ruoyi
* @date 2025-05-23
*/
@Data
@AllArgsConstructor
@NoArgsConstructor
@ToString
public class MydoJob extends BaseEntity
{
private static final long serialVersionUID = 1L;
/** 任务ID */
@Excel(name = "任务ID")
private String jobId;
/** 任务状态 */
@Excel(name = "任务状态",dictType = "mydo_job_status")
private String status;
/** 上线类型 */
@Excel(name = "上线类型",dictType = "on_line_type")
private String onLineType;
/** 任务号 */
@Excel(name = "任务号")
private String taskNo;
/** 供应商ID */
@Excel(name = "供应商ID")
private String supplierId;
@Excel(name = "供应商名称")
private String supplierName;
/** 客户ID */
@Excel(name = "客户ID")
private String customerId;
@Excel(name = "客户名称")
private String customerName;
/** 部门ID */
@Excel(name = "部门ID")
private String departmentId;
@Excel(name = "部门")
private String departmentName;
/** 托盘码 */
@Excel(name = "托盘码")
private String trayCode;
/** 巷道ID */
@Excel(name = "巷道ID")
private String roadwayId;
/** 货位ID */
@Excel(name = "货位ID")
private String cargoSpaceId;
@Excel(name = "货位名称")
private String cargoSpaceName;
/** 目标巷道ID */
@Excel(name = "目标巷道ID")
private String targetRoadwayId;
/** 目标货位ID */
@Excel(name = "目标货位ID")
private String targetCargoSpaceId;
@Excel(name = "目标货位名称")
private String targetCargoSpaceName;
/** 产线ID */
@Excel(name = "产线ID")
private String lineId;
/** 车间ID */
@Excel(name = "车间ID")
private String workshopId;
/** 优先级 */
@Excel(name = "优先级")
private Long priority;
/** 执行阶段 */
@Excel(name = "执行阶段",dictType = "execution_phase_type")
private String executionPhase;
/** 任务类型 */
@Excel(name = "任务类型",dictType = "in_or_out_type")
private String inOrOut;
/** 开始时间 */
@Excel(name = "开始时间")
private String startTime;
/** 结束时间 */
@Excel(name = "结束时间")
private String finishTime;
/** 入口ID */
@Excel(name = "入口ID")
private String entranceId;
/** 出口ID */
@Excel(name = "出口ID")
private String exitId;
/** 班组ID */
@Excel(name = "班组ID")
private String classId;
/** 仓库ID */
@Excel(name = "仓库ID")
private String warehouseId;
@Excel(name = "仓库名称")
private String warehouseName;
/** 重分标记 */
@Excel(name = "重分标记")
private String faultFlag;
private String inOut;
}

18
ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java
View File

@@ -10,10 +10,10 @@ 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.JobParam;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.job.domain.MydoJob;
import com.ruoyi.queue.agv.domain.AgvQueue;
import java.util.List;
import java.util.Map;
@@ -146,4 +146,18 @@ public interface IApiService
* @return
*/
AjaxResult cancelMydoJob(JobParam jobParam);
/**
* 放货有货，重新分配货位
* @param jobParam
* @return
*/
AjaxResult reAssignMydoJob(JobParam jobParam);
/**
* 取货无货，重新分配单据
* @param jobParam
* @return
*/
AjaxResult reAssignMydoJob2(JobParam jobParam);
}

159
ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java
View File

@@ -18,7 +18,6 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskRequest
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.api.domain.agv.genAgvSchedulingTask.PositionCodeData;
import com.ruoyi.api.domain.wcs2wms.JobParam;
import com.ruoyi.api.domain.wcs2wms.MydoJob;
import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
import com.ruoyi.api.service.IApiService;
import com.ruoyi.bas.fluent.domain.BasFluentFrame;
@@ -26,14 +25,14 @@ import com.ruoyi.bas.fluent.service.IBasFluentFrameService;
import com.ruoyi.bas.port.domain.WcsPort;
import com.ruoyi.bas.port.service.IWcsPortService;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.device.agv.domain.AgvQueue;
import com.ruoyi.device.agv.service.IAgvQueueService;
import com.ruoyi.job.domain.MydoJob;
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.PlcRead;
import com.ruoyi.schedule.plcRead.ssj.domain.SendData;
import com.ruoyi.schedule.plcRead.util.Tools;
import lombok.extern.slf4j.Slf4j;
import org.jetbrains.annotations.NotNull;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@@ -230,150 +229,12 @@ public class ApiServiceImpl implements IApiService {
* @param request
*/
private void agvCallbackInfo(AgvCallbackRequest request) {
String taskCode = request.getTaskCode();
AgvQueue agvQueue = agvQueueService.selectAgvQueueByTaskCode(taskCode);
//通知wms agv搬运阶段完成
Map<String, Object> param = new HashMap<>();
if (ObjUtil.isNotNull(agvQueue)) {
switch (request.getMethod()) {
case "start":
//任务开始
agvQueue.setStatus("2");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV任务开始】任务号：{}", taskCode);
//通知wms
param.put("taskNo", agvQueue.getWmsTaskNo());
param.put("wmsType", agvQueue.getWmsTaskType());
sendOutMydoJobStatus(param);
break;
case "outbin":
//走出储位
agvQueue.setStatus("3");
agvQueueService.updateAgvQueue(agvQueue);
log.info("【AGV走出储位】任务号：{}", taskCode);
break;
case "end":
//任务结束
agvQueue.setStatus("4");
agvQueueService.updateAgvQueue(agvQueue);
param.put("wmsType", agvQueue.getWmsTaskType());
if ("1".equals(agvQueue.getWmsTaskType())) {
param.put("taskNo", agvQueue.getWmsTaskNo());
param.put("trayCode", agvQueue.getWmsTraycode());
//入库任务 暂无特殊逻辑
RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())) {
agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
agvQueueService.updateAgvQueue(agvQueue);
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV入库任务结束】任务号：{}", taskCode);
}
} else if ("2".equals(agvQueue.getWmsTaskType())) {
if (agvQueue.getPositionCode2().startsWith("fluent")){
//流利架出库 同步电子标签
Map<String, Object> fluentPickParam = new HashMap<>();
fluentPickParam.put("taskNo", agvQueue.getWmsTaskNo());
fluentPickParam.put("wmsType", "2");
fluentPickParam.put("pickSsj", agvQueue.getPositionCode2());
RequestLog requestLog = finishMydoJob(JOB_FINISH_URL, "流利架任务到达拣选口", fluentPickParam);
agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
agvQueueService.updateAgvQueue(agvQueue);
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV出库任务结束】任务号：{}", taskCode);
}else {
//输送机出库 PLC写入任务号
//通知wms 任务结束
param.put("taskNo", agvQueue.getWmsTaskNo());
param.put("trayCode", agvQueue.getWmsTraycode());
//写入对应的plc 任务号
DeviceSsj deviceSsj = PlcRead.deviceMap.get(agvQueue.getPositionCode2());
if (ObjUtil.isNotNull(deviceSsj)) {
SendData rwh = new SendData(Tools.DINT, agvQueue.getWmsTaskNo());
byte[] bytes = Tools.sendData(rwh);
//写入信息 取货完成
int i = PlcRead.WriteToSSJ(deviceSsj.getPlcDbWriteAddress(), bytes);
if (i == 1) {
agvQueue.setFinishTime(DateUtil.formatDateTime(new Date()));
agvQueueService.updateAgvQueue(agvQueue);
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV出库任务结束】任务号：{}", taskCode);
}
}
}
} else if ("3".equals(agvQueue.getWmsTaskType())) {
param.put("positionCode1", agvQueue.getPositionCode1());
param.put("positionCode2", agvQueue.getPositionCode2());
param.put("containerCode", agvQueue.getWmsTraycode());
//绑定点位和料架
RequestLog requestLog = requestLogService.getRequestLog(JOB_FINISH_URL, "agv任务完成", JSONUtil.toJsonStr(param));
if ("1".equals(requestLog.getIsSuccessful())) {
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
//修改点位状态
WcsPort wcsPort = wcsPortService.selectWcsPortByPortCode(agvQueue.getPositionCode2());
wcsPort.setStatus("1");
wcsPortService.updateWcsPort(wcsPort);
log.info("【AGV任务结束】任务号：{}", taskCode);
}
}
break;
case "cancel":
//任务单取消
agvQueue.setStatus("5");
agvQueueService.updateAgvQueue(agvQueue);
//插入历史
agvQueueService.insertHistory(agvQueue.getReqCode());
//删除队列
agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
log.info("【AGV任务单取消】任务号：{}", taskCode);
break;
case "apply":
//CTU料箱取放申请
//请求放货
if ("0".equals(agvQueue.getRequest())) {
agvQueue.setRequest("1");
agvQueueService.updateAgvQueue(agvQueue);
}
log.info("【AGV料箱取放申请】任务号：{}", taskCode);
break;
case "takeCompleted":
//ctu取货完成
HashMap<String, Object> takeCompletedParam = new HashMap<>();
takeCompletedParam.put("portCode",agvQueue.getPositionCode1());
takeCompletedParam.put("wmsType",agvQueue.getWmsTaskType());
takeCompleted(takeCompletedParam);
if ("3".equals(agvQueue.getWmsTaskType())){
//修改点位状态
WcsPort wcsPort = wcsPortService.selectWcsPortByPortCode(agvQueue.getPositionCode1());
wcsPort.setStatus("0");
wcsPortService.updateWcsPort(wcsPort);
}
break;
default:
log.info("未知方法");
}
}
}
/**
* 推送AGV任务
* @param receiveOutJob
@@ -451,6 +312,16 @@ public class ApiServiceImpl implements IApiService {
return AjaxResult.success();
}
@Override
public AjaxResult reAssignMydoJob(JobParam jobParam) {
return null;
}
@Override
public AjaxResult reAssignMydoJob2(JobParam jobParam) {
return null;
}
/**
* 生成agv队列