From 345f1e00e59381b45d959beaca790c9c12f5211f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=BC=A0=E6=80=A1=E8=93=89?= <377046077@qq.com> Date: Thu, 25 Sep 2025 09:19:46 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BA=A7=E7=BA=BF=E8=BE=93=E9=80=81=E6=9C=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/ruoyi/api/service/IApiService.java | 12 +- .../api/service/impl/ApiServiceImpl.java | 127 ++++++++++----- .../main/java/com/ruoyi/common/Constant.java | 2 + .../java/com/ruoyi/common/TaskStatusCode.java | 9 +- .../schedule/scheduleTask/ddj/Ddj2Thread.java | 40 ++--- .../ssj/floor2/Floor2InSsjThread.java | 25 +-- .../ssj/floor2/Floor2OutSsjThread.java | 4 +- .../ssj/floor2/LineSsjThread.java | 153 ++++++++++++++---- 8 files changed, 261 insertions(+), 111 deletions(-) diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java index 35b9186..04e3da7 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/IApiService.java @@ -45,7 +45,7 @@ public interface IApiService * WMS出库任务推送 * @param receiveOutJob */ - public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob); +// public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob); /** * 生成agv队列 @@ -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); + public AgvQueue createAgvQueue(String code1,String code2,String wmsTrayCode,String wmsTaskNo,String wmsTaskType,String traySize); /** * 取消AGV任务 @@ -68,10 +68,10 @@ public interface IApiService /** * 继续AGV任务 - * @param continueTaskRequest + * @param agvQueue * @return */ - public ContinueTaskResponse continueTask(ContinueTaskRequest continueTaskRequest); + public AjaxResult continueTask(AgvQueue agvQueue); /** * 生成AGV生成任务 @@ -130,7 +130,7 @@ public interface IApiService * WMS流利架入库任务推送 * @param receiveInJob */ - AjaxResult receiveInMydoJob(ReceiveJob receiveInJob); +// AjaxResult receiveInMydoJob(ReceiveJob receiveInJob); /** @@ -159,5 +159,7 @@ public interface IApiService */ public AjaxResult createInMydoJob(Map param); + public AjaxResult selectMydoJobByNoTrayCode(Map param); + public AjaxResult requestEnterByEnterIdAndTrayCode(); } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java index 09ec94c..75873a8 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/api/service/impl/ApiServiceImpl.java @@ -150,30 +150,15 @@ public class ApiServiceImpl implements IApiService { public AjaxResult receiveAgvMoveJob(Map param) { String startPoint = param.get("startPoint"); String endPoint = param.get("endPoint"); - //todo 待调试 - WcsPort startWcsPort = wcsPortService.selectWcsPortByPortCode(startPoint); - WcsPort endWcsPort = wcsPortService.selectWcsPortByPortCode(endPoint); - 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"); + String traySize = param.get("traySize"); + + AgvQueue agvQueue = createAgvQueue(startPoint,endPoint, param.get("trayCode"), param.get("taskNo"), "1",traySize); GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = requestAgvQueue(agvQueue); if (genAgvSchedulingTaskResponse.getCode() == 0) { return AjaxResult.success(); } 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 */ 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 * @return */ - @Override - public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) { - AgvQueue agvQueue = createAgvQueue(receiveOutJob.getCargoSpaceId(),receiveOutJob.getExitId(),receiveOutJob.getTrayCode(),receiveOutJob.getTaskNo(),"2"); - if (agvQueue != null){ - return AjaxResult.success(); - }else { - return AjaxResult.error("生成agv任务失败"); - } - } +// @Override +// public AjaxResult receiveOutMydoJob(ReceiveJob receiveOutJob) { +// AgvQueue agvQueue = createAgvQueue(receiveOutJob.getCargoSpaceId(),receiveOutJob.getExitId(),receiveOutJob.getTrayCode(),receiveOutJob.getTaskNo(),"2"); +// if (agvQueue != null){ +// return AjaxResult.success(); +// }else { +// return AjaxResult.error("生成agv任务失败"); +// } +// } /** * 接收流利架空料箱入库任务 * * @param receiveInJob * @return */ - @Override - public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) { - AgvQueue agvQueue = createAgvQueue(receiveInJob.getEntranceId(),receiveInJob.getCargoSpaceId(),receiveInJob.getTrayCode(),receiveInJob.getTaskNo(),"1"); - if (agvQueue != null){ - return AjaxResult.success(); - }else { - return AjaxResult.error("生成agv任务失败"); - } - } +// @Override +// public AjaxResult receiveInMydoJob(ReceiveJob receiveInJob) { +// AgvQueue agvQueue = createAgvQueue(receiveInJob.getEntranceId(),receiveInJob.getCargoSpaceId(),receiveInJob.getTrayCode(),receiveInJob.getTaskNo(),"1"); +// if (agvQueue != null){ +// return AjaxResult.success(); +// }else { +// return AjaxResult.error("生成agv任务失败"); +// } +// } /** * 取消ctu任务 @@ -308,18 +327,18 @@ public class ApiServiceImpl implements IApiService { * @return */ @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 AgvQueue agvQueue = new AgvQueue(); String reqCode = IdUtil.fastSimpleUUID(); String taskCode = IdUtil.fastSimpleUUID(); agvQueue.setReqCode(reqCode); agvQueue.setReqTime(DateUtil.formatDateTime(DateUtil.date())); - agvQueue.setAgvType("CTU"); + agvQueue.setAgvType("AGV"); agvQueue.setPositionCode1(code1); agvQueue.setPositionCode2(code2); agvQueue.setTaskType("F01"); - agvQueue.setCtnrType("0"); + agvQueue.setCtnrType(traySize); agvQueue.setCtnrCode("0"); agvQueue.setCtnrNum("0"); agvQueue.setTaskMode("0"); @@ -348,13 +367,22 @@ public class ApiServiceImpl implements IApiService { /** * 继续agv任务 - * @param continueTaskRequest + * @param agvQueue * @return */ @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)); - 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.setTaskMode("0"); genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getWmsTaskNo()); - genAgvSchedulingTaskRequest.setAgvTyp("CTU"); + genAgvSchedulingTaskRequest.setAgvTyp("AGV"); genAgvSchedulingTaskRequest.setPositionSelStrategy("0"); genAgvSchedulingTaskRequest.setTaskCode(agvQueue.getTaskCode()); List positionCodePath = new ArrayList<>(); @@ -400,4 +428,15 @@ public class ApiServiceImpl implements IApiService { public AjaxResult requestEnterByEnterIdAndTrayCode() { return null; } + + + @Override + public AjaxResult selectMydoJobByNoTrayCode(Map 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(); + } + } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java b/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java index d8bfeba..0c2268b 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java @@ -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 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 REQUEST_MYDO_JOB_URL = "http://127.0.0.1:8080/api2wms/requestByNoTrayCode"; + } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java b/ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java index e9bff8d..328e888 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/common/TaskStatusCode.java @@ -34,7 +34,7 @@ public class TaskStatusCode { */ 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"; /** @@ -42,8 +42,13 @@ public class TaskStatusCode { */ 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"; + /** + * 任务执行阶段 回传wms完成 + */ + public static final String TASK_EP_WMS_FINISH = "5"; + } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java index 0ee847d..2aa35aa 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/Ddj2Thread.java @@ -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"); +// } +// } } } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InSsjThread.java index cdeeba9..5e62c7e 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2InSsjThread.java @@ -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 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 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 + } + } } diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2OutSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2OutSsjThread.java index da79352..df40627 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2OutSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/Floor2OutSsjThread.java @@ -30,7 +30,7 @@ public class Floor2OutSsjThread implements Runnable { ArrayList 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 { diff --git a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/LineSsjThread.java b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/LineSsjThread.java index 7b2eb52..1b8980a 100644 --- a/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/LineSsjThread.java +++ b/ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ssj/floor2/LineSsjThread.java @@ -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 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 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 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 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 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 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; + } + + }