现场调试修改

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

@@ -208,17 +208,17 @@ public class ApiServiceImpl implements IApiService {
 //        mydoJob.setCargoSpaceId(stockoutReceive.getCargoSpaceId());
 //        mydoJob.setTrayCode(receiveOutJob.getTrayCode());
         mydoJob.setInOrOut(stockoutReceive.getInOrOut());
-        mydoJob.setTraySize(mydoJobService.getTraytypeByTrayCode(mydoJob.getTrayCode()));
+//        mydoJob.setTraySize(mydoJobService.getTraytypeByTrayCode(mydoJob.getTrayCode()));
         mydoJob.setStatus(TASK_STATUS_CREATED);
         mydoJob.setPriority(10);
         mydoJob.setRoadwayId(cargoSpace.getRoadwayId());
         String exitId;
         if (cargoSpace.getCargoAreaId().equals("02")){
-            exitId = ROADWAY2_PORTCONV_2;
+            exitId = ROADWAY2_ROADCONV_2;
         }else if (cargoSpace.getCargoAreaId().equals("03")){
-            exitId = ROADWAY2_PORTCONV_3;
+            exitId = ROADWAY2_ROADCONV_4;
         }else if (cargoSpace.getCargoAreaId().equals("04")){
-            exitId = ROADWAY3_EXIT;
+            exitId = ROADWAY3_ENTRANCE;
         }else{
 //            exitId = ROADWAY1_EXIT;
             exitId = ROADWAY1_ENTRANCE;

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/TaskHandler.java

@@ -294,7 +294,7 @@ public class TaskHandler {
     /**
      * 【更新作业状态】 - 巷道口到位生成堆垛机【取货】作业
      */
-    @Scheduled(fixedDelay = TIMEINTERVAL_DEFAULT)
+//    @Scheduled(fixedDelay = TIMEINTERVAL_DEFAULT)
     public void updateStackerPickStatus() {
         List<MydoJob> jobs = mydoJobService.selectMydoJobList(
                 new MydoJob().builder().status(TASK_STATUS_RUNNING).executionPhase(TASK_EP_ROADWAY_SSJ).build()
@@ -359,7 +359,7 @@ public class TaskHandler {
     /**
      * 【更新作业状态】 - 取货完成--→请求wms并生成堆垛机放货任务
      */
-    @Scheduled(fixedDelay = TIMEINTERVAL_DEFAULT)
+//    @Scheduled(fixedDelay = TIMEINTERVAL_DEFAULT)
     public void updateStackerPutStatus(){
 
         List<MydoJob> jobs = mydoJobService.selectMydoJobList(

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/DdjThread_1.java

@@ -135,7 +135,7 @@ public class DdjThread_1 implements Runnable {
             if (ddjDeviceExecutionQueue != null && !"1".equals(ddjDeviceExecutionQueue.getSpare1())) {
                 //修改队列执行阶段
                 ddjDeviceExecutionQueue.setRwzt(ddj.getJdbz());
-                ddjDeviceExecutionQueue.setSpare1("1");
+//                ddjDeviceExecutionQueue.setSpare1("1");
                 ddjDeviceExecutionQueueService.updateDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
             }
         }

ruoyi-admin/src/main/java/com/ruoyi/schedule/scheduleTask/ddj/DdjThread_2.java

@@ -136,7 +136,7 @@ public class DdjThread_2 implements Runnable {
             if (ddjDeviceExecutionQueue != null && !"1".equals(ddjDeviceExecutionQueue.getSpare1())) {
                 //修改队列执行阶段
                 ddjDeviceExecutionQueue.setRwzt(ddj.getJdbz());
-                ddjDeviceExecutionQueue.setSpare1("1");
+//                ddjDeviceExecutionQueue.setSpare1("1");
                 ddjDeviceExecutionQueueService.updateDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
             }
         }

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

@@ -1,15 +1,24 @@
 package com.ruoyi.schedule.scheduleTask.ssj;
 
+import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.lang.UUID;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
+import cn.hutool.json.JSONUtil;
+import com.alibaba.fastjson2.JSON;
+import com.ruoyi.api.domain.agv.ResponseBase;
+import com.ruoyi.api.domain.wcs2wms.stockin.StockinReceive;
 import com.ruoyi.api.service.IApiService;
+import com.ruoyi.api.service.IRequestLogService;
 import com.ruoyi.bas.cargospace.domain.BasCargoSpace;
 import com.ruoyi.bas.cargospace.service.IBasCargoSpaceService;
 import com.ruoyi.common.ConvType;
+import com.ruoyi.common.TaskType;
+import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.utils.spring.SpringUtils;
 import com.ruoyi.device.ssj.domain.DeviceSsj;
 import com.ruoyi.job.domain.MydoJob;
@@ -38,6 +47,7 @@ public class RoadConvThread implements Runnable {
     private IMydoJobService mydoJobService;
     private IBasCargoSpaceService basCargoSpaceService;
     private IDdjDeviceExecutionQueueService ddjDeviceExecutionQueueService;
+    private IRequestLogService requestLogService;
     public boolean isRun = true;
 
 
@@ -60,8 +70,8 @@ public class RoadConvThread implements Runnable {
         //todo 核对堆垛机取放位置的货位编码
         roadwayMap.put("L1001", Arrays.asList(2, 0, 1));
         roadwayMap.put("L1003", Arrays.asList(3, 0, 1));
-        roadwayMap.put("L1005", Arrays.asList(5, 0, 1));
+        roadwayMap.put("L1005", Arrays.asList(5, 1, 1));
-        roadwayMap.put("L1007", Arrays.asList(7, 0, 1));
+        roadwayMap.put("L1007", Arrays.asList(7, 1, 1));
         roadwayMap.put("L1010", Arrays.asList(10, 0, 1));
         roadwayMap.put("L1008", Arrays.asList(11, 0, 1));
         log.info("初始化服务 {}，{}", apiService, agvQueueService);
@@ -109,15 +119,20 @@ public class RoadConvThread implements Runnable {
 
                 //到位校验
                 if (roadConvCheckedForStockin(roadSsjDevice)) {
+                    //生成堆垛机取货队列
+                    sendStackerIn(roadSsjDevice);
                     //更新入库任务阶段
                     updateMydoJob(roadSsjDevice);
-
                     //生成wcs本地作业
-                    generateWcsMydoJob(roadSsjDevice);
+//                    generateWcsMydoJob(roadSsjDevice);
+                    //巷道口到位请求
+                    requestMydoJob(roadSsjDevice);
                 };
 
-                //请求wms获取入库任务
+                if (roadConvCheckedForStackerin(roadSsjDevice)) {
-                //requestMydoJob(deviceSsj);
+                    //生成堆垛机取货队列
+                    sendStackerIn(roadSsjDevice);
+                };
 
                 if (roadConvCheckedForStockout(roadSsjDevice)) {
                     sendStackerOut(roadSsjDevice);
@@ -147,9 +162,17 @@ public class RoadConvThread implements Runnable {
                     //更新入库任务阶段
                     updateMydoJob(roadSsjDevice);
                     //生成wcs本地作业
-                    generateWcsMydoJob(roadSsjDevice);
+//                    generateWcsMydoJob(roadSsjDevice);
+                    //巷道口到位请求
+                    requestMydoJob(roadSsjDevice);
+
                 }
 
+                if (roadConvCheckedForStackerin(roadSsjDevice)) {
+                    //生成堆垛机取货队列
+                    sendStackerIn(roadSsjDevice);
+                };
+
                 if (roadConvCheckedForStockout(roadSsjDevice)) {
                     sendStackerOut(roadSsjDevice);
                 }
@@ -199,16 +222,35 @@ public class RoadConvThread implements Runnable {
 
 
     /**
-     * 输送机到位判断校验 - 出库
+     * 输送机到位判断校验 - 堆垛机入库
      * @param inSsjDevice
      * @return
      */
-    private boolean roadConvCheckedForStockout(DeviceSsj inSsjDevice){
+    private boolean roadConvCheckedForStackerin(DeviceSsj inSsjDevice){
 
         boolean flag = false;
         //---------------------------巷道口取放货输送机---------------------------
         //输送机【任务号】和【到位】校验
-        if (inSsjDevice.getTaskNo() == 0 && inSsjDevice.getDw() == 0) flag = true;
+        if (inSsjDevice.getTaskNo() == 0 || inSsjDevice.getDw() == 0) return flag;
+
+        //输送机条码不能为空
+        if (StrUtil.isBlank(inSsjDevice.getTrayCode())) return flag;
+
+        return true;
+    }
+
+
+    /**
+     * 输送机到位判断校验 - 出库
+     * @param outSsjDevice
+     * @return
+     */
+    private boolean roadConvCheckedForStockout(DeviceSsj outSsjDevice){
+
+        boolean flag = false;
+        //---------------------------巷道口取放货输送机---------------------------
+        //输送机【任务号】和【到位】校验
+        if (outSsjDevice.getTaskNo() == 0 && outSsjDevice.getDw() == 0) flag = true;
 
         return flag;
     }
@@ -267,6 +309,108 @@ public class RoadConvThread implements Runnable {
     }
 
 
+    /**
+     * 请求wms获取wcs任务参数
+     * @param inSsjDevice
+     */
+    private void requestMydoJob(DeviceSsj inSsjDevice){
+
+        //如果已经生成wcs任务则不继续执行后续请求操作
+        //包括请求成功生成作业和wms推送成功的情况
+        int count = mydoJobService.selectInOrOutMydoJobList(
+                new MydoJob().builder().trayCode(inSsjDevice.getTrayCode()).build()
+        ).size();
+
+        if (count > 0) {
+            return;
+        }
+
+        String errorMessage = "";
+
+        AjaxResult ajaxResult;
+
+        //初始化请求wms参数
+        HashMap<String, Object> paramMap = new HashMap<>();
+        paramMap.put("reqCode", UUID.randomUUID().toString());//请求码
+        paramMap.put("trayCode", inSsjDevice.getTrayCode().trim());//容器编号
+        paramMap.put("entranceId", inSsjDevice.getDeviceCode());//入口输送机编号
+        paramMap.put("cargoAreaId", ConvType.CONV_ROAD_AREA.get(inSsjDevice.getDeviceCode()));//入口输送机编号对应巷道/区域
+        int height = mydoJobService.getTraytypeByTrayCode(inSsjDevice.getTrayCode());
+        if (height == 0){
+            log.warn("【请求入库】参数异常，高度不符合入库条件，可能是条码格式错误，条码:{}，高度:{}", inSsjDevice.getTrayCode(), height);
+            return;
+        }
+        paramMap.put("height", height);//高度
+//        paramMap.put("remark", errorMessage);
+
+
+        //-----------------警告校验:条码已有库存-----------------
+        BasCargoSpace cargoSpace = new BasCargoSpace();
+        cargoSpace.setTrayCode(inSsjDevice.getTrayCode());
+        if (!basCargoSpaceService.selectBasCargoSpaceList(cargoSpace).isEmpty()) {
+            log.warn("【警告】该托盘号已有库存,托盘条码:{}",inSsjDevice.getTrayCode());
+        }
+
+
+        /*-----------------请求生成wcs任务----------------- */
+        ajaxResult = apiService.createMydoJobForStockin(paramMap);
+        if (ajaxResult.isSuccess()) {
+
+            //解析wms下发的响应参数（任务号和货位）
+            ResponseBase res = JSON.parseObject(ajaxResult.get("msg").toString(), ResponseBase.class);
+            StockinReceive result = BeanUtil.toBean(res.getData(), StockinReceive.class);
+
+            //校验：wms分配的货位(排列层)是否合法
+            if (ObjUtil.isNull(basCargoSpaceService.selectBasCargoSpaceByCargoSpaceId(result.getCargoSpaceId()))) {
+                errorMessage = "wms下发货位错误，任务生成失败！";
+                paramMap.put("remark", errorMessage);
+                apiService.createInMydoJobException(paramMap);
+                log.info("【响应参数异常】分配货位:null，无法生成作业，托盘条码:{}",inSsjDevice.getTrayCode());
+                writeToSsj(inSsjDevice.getPlcDbWriteAddress(), "99", 2, 1);
+                return;
+            }
+
+            int priority = result.getInOrOut() == TaskType.TASKTYPE_MOVE_STR ? 0 : 10;
+
+            //初始化要生成的任务
+            MydoJob mydoJob = new MydoJob().builder()
+                    .jobId(result.getJobId())
+                    .taskNo(mydoJobService.getTaskNo("2"))//如果需要用wms下发的任务号作为wcs的任务号使用
+                    .status(TASK_STATUS_CREATED)
+                    .trayCode(result.getTrayCode())
+                    .cargoSpaceId(result.getCargoSpaceId())
+//                .wmsTaskNo(mydoJobService.getTaskNo("1"))
+                    .traySize(height)
+                    .inOrOut(result.getInOrOut())
+                    .roadwayId(basCargoSpaceService.selectBasCargoSpaceByWmsCargoSpaceId(result.getCargoSpaceId()).getRoadwayId())//获取货位表货位对应的巷道号
+                    .entranceId(inSsjDevice.getDeviceCode())
+                    .executionPhase(TASK_EP_CREATED)
+                    .faultFlag("0")
+                    .priority(priority)
+                    .build();
+
+
+            //如果还没有wcs任务 - 生成一条任务
+            if (mydoJobService.selectInOrOutMydoJobList(mydoJob).isEmpty()) {
+                mydoJobService.insertMydoJob(mydoJob);
+                log.info("【入库请求】请求生成wcs作业成功，wms任务号:{}, wcs任务号:{}，托盘条码:{}，分配货位:{}", mydoJob.getWmsTaskNo(), mydoJob.getTaskNo(), mydoJob.getTrayCode(), mydoJob.getCargoSpaceId());
+            }
+
+        }else{
+
+            // 请求生成wcs任务失败
+            // 向输送机下发退回
+            int i = writeToSsj(inSsjDevice.getPlcDbWriteAddress(), "99", 6, 2);
+            if(i == 1){
+                // 接口调用失败处理
+                log.info("【入库请求】请求生成wcs作业失败退回，请检查网络或请求参数，请求内容:{}", JSON.toJSONString(paramMap));
+                log.info("【错误信息】{}", requestLogService.selectRequestLogByLatestTask().getErrorDetails());
+            }
+
+        }
+    }
+
+
     /**
      * 更新入库任务阶段
      * @param inSsjDevice
@@ -302,7 +446,6 @@ public class RoadConvThread implements Runnable {
     }
 
 
-
     /**
      * 向堆垛机发送【出库】任务
      * @param roadSsjDevice
@@ -320,6 +463,12 @@ public class RoadConvThread implements Runnable {
             if (ObjUtil.isNotNull(mydoJob)) {
                 //如果有出库任务 - 检查货位编码是否合法
                 BasCargoSpace basCargoSpace = basCargoSpaceService.selectBasCargoSpaceByWmsCargoSpaceId(mydoJob.getCargoSpaceId());
+
+                int devId = 1;
+                if (!basCargoSpace.getRoadwayId().equals("1")){
+                    devId = 2;
+                }
+
                 if (ObjUtil.isNull(basCargoSpace)) {
                     log.error("【任务异常】货位不存在 cargoSpaceId{}", mydoJob.getCargoSpaceId());
                 } else {
@@ -332,8 +481,8 @@ public class RoadConvThread implements Runnable {
                         DdjDeviceExecutionQueue ddjDeviceExecutionQueue = new DdjDeviceExecutionQueue();
                         ddjDeviceExecutionQueue.setUuid(IdUtil.simpleUUID());
                         ddjDeviceExecutionQueue.setRwh(Convert.toLong(mydoJob.getTaskNo()));
-                        ddjDeviceExecutionQueue.setDevName(mydoJob.getRoadwayId());
+                        ddjDeviceExecutionQueue.setDevName(String.valueOf("ddj" + devId));
-                        ddjDeviceExecutionQueue.setDevId(Convert.toInt(mydoJob.getRoadwayId()));
+                        ddjDeviceExecutionQueue.setDevId(devId);
                         ddjDeviceExecutionQueue.setRwzt(0);
                         ddjDeviceExecutionQueue.setYph(Convert.toInt(basCargoSpace.getThePlatoon()));
                         ddjDeviceExecutionQueue.setYlh(Convert.toInt(basCargoSpace.getTheColumn()));
@@ -343,7 +492,7 @@ public class RoadConvThread implements Runnable {
                         ddjDeviceExecutionQueue.setMbch(pclList.get(2));
                         ddjDeviceExecutionQueue.setDdjxf("0");
                         ddjDeviceExecutionQueue.setMlfs(5);
-                        ddjDeviceExecutionQueue.setSpare1(mydoJob.getTraySize().toString());//货物高度
+//                        ddjDeviceExecutionQueue.setSpare1(mydoJob.getTraySize().toString());//货物高度
                         ddjDeviceExecutionQueue.setScsj(DateUtil.formatDateTime(DateUtil.date()));
 //                           ddjDeviceExecutionQueue.setRwlx(DDJ_RWLX_2);
                         ddjDeviceExecutionQueueService.insertDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
@@ -352,6 +501,8 @@ public class RoadConvThread implements Runnable {
                         mydoJob.setExecutionPhase(TASK_EP_DDJ);
                         mydoJob.setStartTime(DateUtil.formatDateTime(DateUtil.date()));
                         mydoJobService.updateMydoJob(mydoJob);
+
+                        log.info("【堆垛机出库】输送机:{}空闲，等待堆垛机执行，更新任务状态，任务号:{}", roadSsjDevice.getDeviceCode(), mydoJob.getTaskNo());
                     }
                 }
             }else{
@@ -363,4 +514,69 @@ public class RoadConvThread implements Runnable {
     }
 
 
+    /**
+     * 向堆垛机发送【入库】任务
+     * @param roadSsjDevice
+     */
+    private void sendStackerIn(DeviceSsj roadSsjDevice){
+//---------------------------出库任务---------------------------
+
+            //检查是否有入库任务
+            MydoJob mydoJob = mydoJobService.selectMydoJobByTaskNo(Long.valueOf(roadSsjDevice.getTaskNo()));
+            if (ObjUtil.isNotNull(mydoJob)) {
+
+                //检查执行阶段
+                if (!mydoJob.getExecutionPhase().equals(TASK_EP_ROADWAY_SSJ)) return;
+
+                //如果有入库任务 - 检查货位编码是否合法
+                BasCargoSpace basCargoSpace = basCargoSpaceService.selectBasCargoSpaceByWmsCargoSpaceId(mydoJob.getCargoSpaceId());
+
+                int devId = 1;
+                if (!basCargoSpace.getRoadwayId().equals("1")){
+                    devId = 2;
+                }
+
+                if (ObjUtil.isNull(basCargoSpace)) {
+                    log.error("【任务异常】货位不存在 cargoSpaceId{}", mydoJob.getCargoSpaceId());
+                } else {
+                    //生成队列
+                    List<DdjDeviceExecutionQueue> list = ddjDeviceExecutionQueueService.selectDdjDeviceExecutionQueueList(
+                            new DdjDeviceExecutionQueue().builder().devId(Convert.toInt(mydoJob.getRoadwayId())).build()
+                    );
+                    List<Integer> pclList = roadwayMap.get(roadSsjDevice.getDeviceCode());
+                    if (CollUtil.isEmpty(list) && CollUtil.isNotEmpty(pclList)) {
+                        DdjDeviceExecutionQueue ddjDeviceExecutionQueue = new DdjDeviceExecutionQueue();
+                        ddjDeviceExecutionQueue.setUuid(IdUtil.simpleUUID());
+                        ddjDeviceExecutionQueue.setRwh(Convert.toLong(mydoJob.getTaskNo()));
+                        ddjDeviceExecutionQueue.setDevName("ddj" + devId);
+                        ddjDeviceExecutionQueue.setDevId(devId);
+                        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.setSpare1(mydoJob.getTraySize().toString());//货物高度
+                        ddjDeviceExecutionQueue.setScsj(DateUtil.formatDateTime(DateUtil.date()));
+//                           ddjDeviceExecutionQueue.setRwlx(DDJ_RWLX_2);
+                        ddjDeviceExecutionQueueService.insertDdjDeviceExecutionQueue(ddjDeviceExecutionQueue);
+                        //修改作业状态
+                        mydoJob.setStatus(TASK_STATUS_RUNNING);
+                        mydoJob.setExecutionPhase(TASK_EP_DDJ);
+                        mydoJob.setStartTime(DateUtil.formatDateTime(DateUtil.date()));
+                        mydoJobService.updateMydoJob(mydoJob);
+
+                        log.info("【巷道口入库】输送机:{}入库到位,更新任务状态，等待堆垛机执行，任务号:{}", roadSsjDevice.getDeviceCode(), mydoJob.getTaskNo());
+                    }
+                }
+            }else{
+//                log.info("【出库警告】当前出口"+ exitId +"存在入库任务，无法出库！");
+            }
+
+    }
+
+
 }