123

ruoyi-admin/src/main/java/com/ruoyi/api/controller/Wcs2WmsController.java

@@ -3,12 +3,10 @@ package com.ruoyi.api.controller;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.*;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
 
 @RestController
 @RequestMapping("/wcs2Wms/api")
@@ -16,6 +14,8 @@ public class Wcs2WmsController {
 
     @Autowired
     private IApiService apiService;
+    @Autowired
+    private IWcsPortService wcsPortService;
 
     /**
      * 接收出库任务
@@ -52,5 +52,15 @@ public class Wcs2WmsController {
     }
 
 
+    /**
+     * 查询缓存点
+     * @param jobParam
+     * @return
+     */
+    @PostMapping("/selectWcsPort")
+    @ResponseBody
+    public AjaxResult selectWcsPort(@RequestBody JobParam jobParam) {
+        return apiService.selectWcsPort(jobParam);
+    }
 
 }

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

@@ -100,6 +100,8 @@ public interface IApiService
      */
     AjaxResult cancelMydoJob(JobParam jobParam);
 
+    AjaxResult selectWcsPort(JobParam jobParam);
+
 
 
     /**

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

@@ -18,6 +18,8 @@ import com.ruoyi.api.domain.agv.genAgvSchedulingTask.PositionCodeData;
 import com.ruoyi.api.domain.wcs2wms.JobParam;
 import com.ruoyi.api.domain.wcs2wms.ReceiveJob;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.port.domain.WcsPort;
+import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.DateUtils;
 import com.ruoyi.job.domain.MydoJob;
@@ -51,6 +53,8 @@ public class ApiServiceImpl implements IApiService {
     private IAgvQueueService agvQueueService;
     @Autowired
     private IMydoJobService mydoJobService;
+    @Autowired
+    private IWcsPortService wcsPortService;
 
 
 
@@ -169,9 +173,23 @@ public class ApiServiceImpl implements IApiService {
                     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());
+                    List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(new WcsPort());
+                    // 查询agvQueue中的positionCode2的值是否在wcsPorts列表中存在
+                    boolean isPositionValid = wcsPorts.stream()
+                            .anyMatch(port -> port.getPortCode().equals(agvQueue.getPositionCode2()));
+                    if (isPositionValid) {
+                        agvQueueService.insertHistory(agvQueue.getReqCode());
+                        agvQueueService.deleteAgvQueueByReqCode(agvQueue.getReqCode());
+                        WcsPort wcsPort = new WcsPort();
+                        wcsPort.setPortCode(agvQueue.getPositionCode2());
+                        wcsPort.setStatus("2");
+                        wcsPortService.updateWcsPort(wcsPort);
+                    }
+
                     break;
                 default:
                     log.info("未知方法");
@@ -311,7 +329,7 @@ public class ApiServiceImpl implements IApiService {
      */
     @Override
     public GenAgvSchedulingTaskResponse requestAgvQueue(AgvQueue agvQueue) {
-        //todo 请求ctu
+
         GenAgvSchedulingTaskRequest genAgvSchedulingTaskRequest = new GenAgvSchedulingTaskRequest();
         genAgvSchedulingTaskRequest.setReqCode(agvQueue.getReqCode());
         genAgvSchedulingTaskRequest.setTaskMode("0");
@@ -391,4 +409,10 @@ public class ApiServiceImpl implements IApiService {
             return AjaxResult.error();
         }
     }
+
+    @Override
+    public AjaxResult selectWcsPort(JobParam jobParam) {
+        List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(new WcsPort());
+        return AjaxResult.success(wcsPorts);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java

@@ -32,11 +32,11 @@ public class TaskStatusCode {
     /**
      * 任务执行阶段 AGV
      */
-    public static final String TASK_EP_AGV = "1";
+    public static final String TASK_EP_AGV = "2";
     /**
      * 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 = "3";
     /**
      * 任务执行阶段 巷道口
      */
@@ -49,6 +49,8 @@ public class TaskStatusCode {
     /**
      * 任务执行阶段 回传wms完成
      */
-    public static final String TASK_EP_WMS_FINISH = "5";
+    public static final String TASK_EP_WMS_FINISH = "6";
+
+    public static final String TASK_EP_LINE_SSJ = "1";
 
 }

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InOutSsjThread.java

@@ -1,6 +1,8 @@
 package com.ruoyi.schedule.scheduleTask.ssj.floor2;
 
+import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.util.StrUtil;
 import com.ruoyi.api.service.IApiService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.spring.SpringUtils;
@@ -19,6 +21,7 @@ import java.util.Date;
 import java.util.HashMap;
 import java.util.List;
 
+import static com.ruoyi.common.TaskStatusCode.TASK_EP_LINE_SSJ;
 import static com.ruoyi.common.TaskStatusCode.TASK_EP_SSJ;
 import static com.ruoyi.schedule.plcRead.ssj.PlcSsjRead.writeToSsj;
 
@@ -44,6 +47,9 @@ public class Floor2InOutSsjThread implements Runnable {
         ssjCodes.add("L1011");
         ssjCodes.add("L1012");
         ssjCodeList.put("inout", ssjCodes);
+        ssjCodes.add("L1001");
+        ssjCodes.add("L1003");
+        ssjCodeList.put("sm", ssjCodes);
         apiService = SpringUtils.getBean(IApiService.class);
         agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
@@ -59,7 +65,7 @@ public class Floor2InOutSsjThread implements Runnable {
 
                 switch (type) {
                     case "inout":
-                        //生产线入库
+                        //入库口
                         for (String ssjCode : ssjCodeList.get(type)) {
                             try {
                                 if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
@@ -73,6 +79,17 @@ public class Floor2InOutSsjThread implements Runnable {
 
                         }
                         break;
+                    case "sm":
+                        //入库扫码
+                        for (String ssjCode : ssjCodeList.get(type)) {
+                            try {
+                                if (PlcSsjRead.deviceSsjMap.containsKey(ssjCode)) {
+                                    inDispatch1(PlcSsjRead.deviceSsjMap.get(ssjCode));
+                                } else {
+                                    log.error("设备不存在 ssjCode{}", ssjCode);
+                                }
+                            } catch (RuntimeException e) {}
+                        }
                 }
             }
             try {
@@ -90,16 +107,17 @@ public class Floor2InOutSsjThread implements Runnable {
         if (inSsjDevice.getKx() == 1) {
             AgvQueue agvQueue = new AgvQueue();
             agvQueue.setStatus("5");//请求放货
+            //todo 与agv对点
             agvQueue.setPositionCode2(inSsjDevice.getDeviceCode());
             List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueue);
-            //不允许放货
+            //不允许放货 等着
-            if (!agvQueues.isEmpty() && inSsjDevice.getAllowPut() == 0) {
+//            if (!agvQueues.isEmpty() && 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.parseInt(agvQueues.get(0).getCtnrType()),1);
+//                int i = writeToSsj(inSsjDevice.getPlcDbWriteAddress(), "0", Integer.parseInt(agvQueues.get(0).getCtnrType()),1);
-                if (i == 1) {
+//                if (i == 1) {
-                    log.info(inSsjDevice.getDeviceCode() + "输送机下发请求放货成功");
+//                    log.info(inSsjDevice.getDeviceCode() + "输送机下发请求放货异常成功");
-                }
+//                }
-            }
+//            }
             //允许放货
             if (!agvQueues.isEmpty() && 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());
@@ -115,6 +133,7 @@ public class Floor2InOutSsjThread implements Runnable {
         if (inSsjDevice.getKx() == 0 && inSsjDevice.getTaskNo() == 0) {
             AgvQueue agvQueue = new AgvQueue();
             agvQueue.setStatus("7"); //end
+            //todo 与agv对点
             agvQueue.setPositionCode2(inSsjDevice.getDeviceCode());
             List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(agvQueue);
             if (!agvQueues.isEmpty()) {
@@ -148,6 +167,73 @@ public class Floor2InOutSsjThread implements Runnable {
         }
     }
 
+    public void inDispatch1(DeviceSsj ssjDevice) {
+        //有入库请求就肯定是电气的任务号的作业,如果有正执行的出库作业退回
+        if(StrUtil.isNotBlank(ssjDevice.getTrayCode()) && ssjDevice.getRkqq()==1 && ssjDevice.getTaskNo()<=1000){
+
+            MydoJob mydoJobParam = new MydoJob();
+            mydoJobParam.setInOut("2");
+            mydoJobParam.setStatus("3");
+            mydoJobParam.setExitId(ssjDevice.getDeviceCode());
+            List<MydoJob> outMydoJobList = mydoJobService.selectInOrOutMydoJobList(mydoJobParam);
+            if(!outMydoJobList.isEmpty()){
+                //todo 去向不明朗
+                int i = writeToSsj(ssjDevice.getPlcDbWriteAddress(),"0",2,2);
+                if (i == 1) {
+                    log.info(ssjDevice.getDeviceCode()+"有正执行的出库作业退回" );
+                }
+            }
+
+
+            MydoJob mydoJob = new MydoJob();
+            mydoJob.setInOrOut("1");
+//            mydoJob.setStatus("1");
+            mydoJob.setEntranceId(ssjDevice.getDeviceCode());
+//            mydoJob.setExecutionPhase("0");
+            List<MydoJob> mydoJobs = mydoJobService.selectMydoJobList(mydoJob);
+            if(!mydoJobs.isEmpty()){
+                MydoJob mydoJob1 = mydoJobs.get(0);
+                if(mydoJob1.getStatus().equals("1") && mydoJob1.getExecutionPhase().equals("0")){
+                    int i = writeToSsj(ssjDevice.getPlcDbWriteAddress(),mydoJob1.getTaskNo(),1,1);
+                    if (i == 1) {
+                        mydoJob1.setExecutionPhase(TASK_EP_SSJ);
+                        mydoJob1.setStatus("3");
+                        mydoJobService.updateMydoJob(mydoJob1);
+                        log.info(ssjDevice.getDeviceCode()+"输送机下发任务号成功:{}" , mydoJob1.getTaskNo());
+                    }
+                }
+
+            }else{
+                HashMap<String, Object> map = new HashMap<>();
+                map.put("trayCode",ssjDevice.getTrayCode());
+                map.put("entranceId",ssjDevice.getDeviceCode());
+                AjaxResult ajaxResult = apiService.selectMydoJobByTrayCodeAndEntranceId(map);
+                if(ajaxResult.isSuccess()){
+                    MydoJob mydoJob2 = BeanUtil.toBean(ajaxResult.get("data"), MydoJob.class) ;
+                    mydoJob2.setStatus("1");
+                    mydoJob2.setExecutionPhase("0");
+                    mydoJob2.setCreateTime(new Date());
+                    mydoJobService.insertMydoJob(mydoJob2);
+                    int i = writeToSsj(ssjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
+                    if (i == 1) {
+                        mydoJob2.setExecutionPhase(TASK_EP_SSJ);
+                        mydoJobService.updateMydoJob(mydoJob2);
+                        log.info(ssjDevice.getDeviceCode()+"输送机下发任务号成功:{}" , mydoJob2.getTaskNo());
+                    }
+                }else{
+                    //todo 去向不明朗
+                    int i = writeToSsj(ssjDevice.getPlcDbWriteAddress(),"0",2,2);
+                    if (i == 1) {
+                        log.info(ssjDevice.getDeviceCode()+"输送机没取到作业下发输送线" );
+                    }
+                }
+
+            }
+
+
+        }
+    }
+
 
 
 }

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

@@ -4,6 +4,8 @@ import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.util.StrUtil;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.bas.port.domain.WcsPort;
+import com.ruoyi.bas.port.service.IWcsPortService;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.domain.SendData;
 import com.ruoyi.common.utils.spring.SpringUtils;
@@ -22,6 +24,7 @@ import java.util.HashMap;
 import java.util.List;
 
 import static com.ruoyi.common.TaskStatusCode.TASK_EP_AGV;
+import static com.ruoyi.common.TaskStatusCode.TASK_EP_LINE_SSJ;
 import static com.ruoyi.schedule.plcRead.ssj.PlcSsjRead.deviceSsjMap;
 import static com.ruoyi.schedule.plcRead.ssj.PlcSsjRead.writeToSsj;
 
@@ -36,6 +39,7 @@ public class LineSsjThread implements Runnable {
     private IApiService apiService;
     private IAgvQueueService agvQueueService;
     private IMydoJobService mydoJobService;
+    private IWcsPortService wcsPortService;
 
     public boolean isRun = true;
 
@@ -48,6 +52,7 @@ public class LineSsjThread implements Runnable {
         apiService = SpringUtils.getBean(IApiService.class);
         agvQueueService = SpringUtils.getBean(IAgvQueueService.class);
         mydoJobService = SpringUtils.getBean(IMydoJobService.class);
+        wcsPortService = SpringUtils.getBean(IWcsPortService.class);
         log.info("初始化服务 {}，{}", apiService, agvQueueService);
     }
 
@@ -75,6 +80,7 @@ public class LineSsjThread implements Runnable {
                         break;
                 }
             }
+
             try {
                 Thread.sleep(1500);
             } catch (InterruptedException e) {
@@ -93,21 +99,22 @@ public class LineSsjThread implements Runnable {
             //查作业，入如果已经有了，直接下发输送线
             MydoJob mydoJob = new MydoJob();
             mydoJob.setInOrOut("1");
-            mydoJob.setStatus("1");
+//            mydoJob.setStatus("1");
             mydoJob.setEntranceId("G1005");
-            mydoJob.setExecutionPhase("0");
+//            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.isEmpty()) {
-
+               //永远有且只有一条
                 mydoJob = mydoJobs.get(0);
+                if(mydoJob.getStatus().equals("1")&& mydoJob.getExecutionPhase().equals("0")) {
                     int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
                     if (i == 1) {
-                    mydoJob.setExecutionPhase(TASK_EP_AGV);
+                        mydoJob.setExecutionPhase(TASK_EP_LINE_SSJ);
                         mydoJobService.updateMydoJob(mydoJob);
                         log.info("G1005产线输送机下发任务号成功:" + mydoJob.getTaskNo());
                     }
-
+                }
 
             } else {
 
@@ -124,11 +131,10 @@ public class LineSsjThread implements Runnable {
                     mydoJob2.setStatus("1");
                     mydoJob2.setExecutionPhase("0");
                     mydoJob2.setCreateTime(new Date());
-
                     mydoJobService.insertMydoJob(mydoJob2);
                     int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
                     if (i == 1) {
-                        mydoJob2.setExecutionPhase(TASK_EP_AGV);
+                        mydoJob2.setExecutionPhase(TASK_EP_LINE_SSJ);
                         mydoJobService.updateMydoJob(mydoJob2);
                         log.info("G1005产线输送机下发任务号成功:{}" , mydoJob2.getTaskNo());
                     }
@@ -140,6 +146,12 @@ public class LineSsjThread implements Runnable {
                     if (i == 1) {
                         log.info("G1005产线输送机下发错误信息成功");
                     }
+                    //7是报工单失败，不处理
+                    if(!"7".equals(Integer.parseInt(ajaxResult.get("code").toString()))){
+                             createMoveToPort(SsjDevice);
+
+                    }
+
 
                 }
 
@@ -153,18 +165,20 @@ public class LineSsjThread implements Runnable {
             //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");
-            mydoJob.setStatus("1");
+//            mydoJob.setStatus("1");
             mydoJob.setEntranceId("G1005");
-            mydoJob.setExecutionPhase("0");
+//            mydoJob.setExecutionPhase("0");
             List<MydoJob> mydoJobs = mydoJobService.selectInOrOutMydoJobList(mydoJob);
             if (!mydoJobs.isEmpty()) {
                 mydoJob = mydoJobs.get(0);
+                if(mydoJob.getStatus().equals("1") && mydoJob.getExecutionPhase().equals("0")) {
                     int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(), mydoJob.getTaskNo(), 1, 1);
                     if (i == 1) {
-                    mydoJob.setExecutionPhase(TASK_EP_AGV);
+                        mydoJob.setExecutionPhase(TASK_EP_LINE_SSJ);
                         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<>();
@@ -175,7 +189,7 @@ public class LineSsjThread implements Runnable {
                     mydoJobService.insertMydoJob(mydoJob2);
                     int i = writeToSsj(SsjDevice.getPlcDbWriteAddress(),mydoJob2.getTaskNo(),1,1);
                     if (i == 1) {
-                        mydoJob2.setExecutionPhase(TASK_EP_AGV);
+                        mydoJob2.setExecutionPhase(TASK_EP_LINE_SSJ);
                         mydoJobService.updateMydoJob(mydoJob2);
                         log.info("G1005产线输送机下发任务号成功:" + mydoJob2.getTaskNo());
                     }
@@ -187,6 +201,10 @@ public class LineSsjThread implements Runnable {
                     if (i == 1) {
                         log.info("G1005产线输送机下发错误信息成功");
                     }
+                    //7是报工单失败，不处理
+                    if(!"7".equals(Integer.parseInt(ajaxResult.get("code").toString()))){
+                        createMoveToPort(SsjDevice);
+                    }
                 }
             }
 
@@ -201,9 +219,9 @@ public class LineSsjThread implements Runnable {
             String deviceCode = "";
             if (mydoJob != null) {
                 if ("1".equals(mydoJob.getRoadwayId())) {
-                    deviceCode = "L1011";
+                    deviceCode = "L1001";
                 } else {
-                    deviceCode = "L1012";
+                    deviceCode = "L1003";
                 }
                 int kx = deviceSsjMap.get(deviceCode).getKx();
                 MydoJob mydoJobParam = new MydoJob();
@@ -228,8 +246,9 @@ public class LineSsjThread implements Runnable {
                     }else {
                         if ("1".equals(mydoJob.getStatus())){
                             HashMap<String, String> paramMap = new HashMap<>();
-                            paramMap.put("trayCode", mydoJob.getTrayCode());
+//                            paramMap.put("trayCode", mydoJob.getTrayCode());
                             paramMap.put("taskNo", mydoJob.getJobId());
+                            //todo 与agv对点
                             paramMap.put("startPoint", "G1005");
                             paramMap.put("endPoint", deviceCode);
                             paramMap.put("traySize",String.valueOf(SsjDevice.getTraySize()));
@@ -253,6 +272,40 @@ public class LineSsjThread implements Runnable {
 
     }
 
+    void createMoveToPort(DeviceSsj SsjDevice){
+        WcsPort wcsPort = new WcsPort();
+        wcsPort.setStatus("1");
+        List<WcsPort> wcsPorts = wcsPortService.selectWcsPortList(wcsPort);
+        List<AgvQueue> agvQueues = agvQueueService.selectAgvQueueList(new AgvQueue());
+        //检查agvQueues中是否有任何一个positionCode2是wcsPorts中的portCode
+        boolean hasMatchingPort = agvQueues.stream()
+                .map(AgvQueue::getPositionCode2)
+                .anyMatch(positionCode2 -> wcsPorts.stream()
+                        .map(WcsPort::getPortCode)
+                        .anyMatch(portCode -> portCode.equals(positionCode2)));
+
+        if(hasMatchingPort==false){
+
+            if(!wcsPorts.isEmpty()){
+                HashMap<String, String> map = new HashMap<>();
+//                            map.put("trayCode", mydoJob.getTrayCode());
+                map.put("taskNo", StrUtil.uuid());
+                //todo 与agv对点
+                map.put("startPoint", "G1005");
+                map.put("endPoint", wcsPorts.get(0).getPortCode());
+                map.put("traySize",String.valueOf(SsjDevice.getTraySize()));
+//                            map.put("wmsTaskNo", mydoJob.getTaskNo());
+                AjaxResult ajaxResult1 = apiService.receiveAgvMoveJob(map);
+                if(ajaxResult1.isSuccess()){
+                    log.info("G1005产线生成作业失败，AGV下发搬运至缓存点任务成功:{}" , ajaxResult1.get("data"));
+
+                }
+            }
+        }
+    }
+
+
+
 
 
 

ruoyi-admin/src/main/resources/mapper/bas/WcsPortMapper.xml

@@ -79,7 +79,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="spare3 != null">spare3 = #{spare3},</if>
             <if test="status != null">status = #{status},</if>
         </trim>
-        where id = #{id}
+        where port_code = #{portCode}
     </update>
 
     <delete id="deleteWcsPortById" parameterType="Long">