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移库相关

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judy 1 year ago
parent 2a3a304077
commit 9b64e345cc
7 changed files with 935 additions and 863 deletions
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  1. 5
      shkj-wms/src/main/java/com/shkj/wms/bo/BaseLocationUrgentBo.java
  2. 17
      shkj-wms/src/main/java/com/shkj/wms/enums/TaskTypeEnum.java
  3. 591
      shkj-wms/src/main/java/com/shkj/wms/plc/PlcEventTask.java
  4. 2
      shkj-wms/src/main/java/com/shkj/wms/plc/PlcInit.java
  5. 751
      shkj-wms/src/main/java/com/shkj/wms/service/impl/BusinDataTaskServiceImpl.java
  6. 425
      shkj-wms/src/main/java/com/shkj/wms/third/rcs/RCSUtil.java
  7. 7
      shkj-wms/src/main/resources/mapper/wms/BaseLocationMapper.xml

5
shkj-wms/src/main/java/com/shkj/wms/bo/BaseLocationUrgentBo.java
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@ -27,5 +27,10 @@ public class BaseLocationUrgentBo extends BaseEntity {
@NotNull(message = "原库存不得为空")
private Long stockId;
/**
* 巷道
*/
private String tunnel;
}

17
shkj-wms/src/main/java/com/shkj/wms/enums/TaskTypeEnum.java
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@ -53,10 +53,7 @@ public enum TaskTypeEnum {
*/
call_container("8", "呼叫空治具"),
/**
* 9 移库
*/
relocation("9", "跨巷道移库"),
/**
* 10 补货出库
@ -117,7 +114,17 @@ public enum TaskTypeEnum {
/**
* 指定货位出库
*/
named_loc("22","指定货位出库");
named_loc("22","指定货位出库"),
/**
* 23 跨巷道移库出库
*/
relocation_out("23", "跨巷道移库出库"),
/**
* 24 跨巷道移库入库
*/
relocation_in("24", "跨巷道移库入库");
private String value;

591
shkj-wms/src/main/java/com/shkj/wms/plc/PlcEventTask.java
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2
shkj-wms/src/main/java/com/shkj/wms/plc/PlcInit.java
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@ -42,7 +42,7 @@ public class PlcInit {
RedisTemplate redisTemplate;
private ScheduledExecutorService executorService = Executors.newScheduledThreadPool(1);
@PostConstruct
// @PostConstruct
public void init(){
log.info("初始化连接对象");
executorService.scheduleWithFixedDelay(

751
shkj-wms/src/main/java/com/shkj/wms/service/impl/BusinDataTaskServiceImpl.java
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425
shkj-wms/src/main/java/com/shkj/wms/third/rcs/RCSUtil.java
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@ -189,13 +189,13 @@ public class RCSUtil {
* @return {@code Result}
*/
public synchronized Result rcsCreateTask(RcsCreateTaskDto dto) {
log.info("AGV下发任务信息："+JsonUtil.toJSONString(dto));
if (ObjectUtils.isNotEmpty(redisTemplate.opsForValue().get(RedisConstant.out17+dto.getTaskId()))){
return Result.err().msg("此任务已经下发至rcs任务号："+dto.getTaskId());
log.info("AGV下发任务信息：" + JsonUtil.toJSONString(dto));
if (ObjectUtils.isNotEmpty(redisTemplate.opsForValue().get(RedisConstant.out17 + dto.getTaskId()))) {
return Result.err().msg("此任务已经下发至rcs任务号：" + dto.getTaskId());
}
//获取任务详细信息,下发给RCS设置行号
BusinDataTask businDataTask = iBusinDataTaskService.getById(dto.getTaskId());
if (StringUtils.isNotEmpty(businDataTask.getToRow())){
if (StringUtils.isNotEmpty(businDataTask.getToRow())) {
dto.setStation(businDataTask.getToRow());
}
String json = JSONObject.toJSONString(dto);
@ -205,10 +205,10 @@ public class RCSUtil {
.addHeaders(headerMap)
.body(json)
.execute().body();
log.info(dto.getTaskId() + "AGV下发任务返回结果："+res);
log.info(dto.getTaskId() + "AGV下发任务返回结果：" + res);
Result result = parseThirdRcsResult(res);
if (result.getCode() == 200){
redisTemplate.opsForValue().set(RedisConstant.out17+dto.getTaskId(),result.toString());
if (result.getCode() == 200) {
redisTemplate.opsForValue().set(RedisConstant.out17 + dto.getTaskId(), result.toString());
}
return result;
} catch (Exception e) {
@ -217,34 +217,35 @@ public class RCSUtil {
return Result.err().msg(e.getMessage());
}
}
/**
* 更改AGV点位信息
*/
public Result removePoint(AGVUploadStatusBo bo){
log.info("AGV更新点位信息："+JsonUtil.toJSONString(bo));
public Result removePoint(AGVUploadStatusBo bo) {
log.info("AGV更新点位信息：" + JsonUtil.toJSONString(bo));
BusinDataTask byId = iBusinDataTaskService.getById(bo.getTaskId());
String sn = bo.getSn();
if (ObjectUtils.isNotEmpty(byId)) {
Map map =new HashMap();
map.put("taskId",byId.getId());
Map map = new HashMap();
map.put("taskId", byId.getId());
Result result = new Result();
result.setCode(0);
List list = new ArrayList();
if (StringUtils.isEmpty(byId.getNewDestination())){
if (StringUtils.isEmpty(byId.getNewDestination())) {
return Result.err();
}
if (!"1".equals(byId.getTaskStatus())){
if (!"1".equals(byId.getTaskStatus())) {
return Result.err();
}
Map points = (Map) JSON.parse(byId.getPoints());
int pointnumber= points.size();
if (pointnumber>Integer.valueOf(sn)) {
int pointnumber = points.size();
if (pointnumber > Integer.valueOf(sn)) {
Map<Object, Object> mapSn = new HashMap<>();
mapSn.put("sn", pointnumber);
mapSn.put("id", byId.getNewDestination());
mapSn.put("action", "singleMove");
list.add(mapSn);
return result.data(list);
return result.data(list);
}
}
return null;
@ -328,7 +329,7 @@ public class RCSUtil {
RcsCreateTaskDto dto = new RcsCreateTaskDto();
dto.setMapId(1);
dto.setTaskType(bo.getTaskType());
if (StringUtils.isNotEmpty(bo.getRobotId())){
if (StringUtils.isNotEmpty(bo.getRobotId())) {
dto.setRobotId(bo.getRobotId());
}
dto.setTaskId(bo.getTaskId().toString());
@ -346,11 +347,11 @@ public class RCSUtil {
// return Result.ok();
}
public Result<Boolean> moveByAGV(AGVMoveBo bo,String toRow) {
public Result<Boolean> moveByAGV(AGVMoveBo bo, String toRow) {
RcsCreateTaskDto dto = new RcsCreateTaskDto();
dto.setMapId(1);
dto.setTaskType(bo.getTaskType());
if (StringUtils.isNotEmpty(bo.getRobotId())){
if (StringUtils.isNotEmpty(bo.getRobotId())) {
dto.setRobotId(bo.getRobotId());
}
dto.setTaskId(bo.getTaskId().toString());
@ -373,10 +374,9 @@ public class RCSUtil {
}
public Result<Boolean> moveByAGVTmp(BusinTaskQueryBo bo) {
//呼叫AGV
String targetPoint = isysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.putin_point);
String targetPoint = isysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.putin_point);
String tmpPoint = isysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.putout_point_tmp);
String startPoint = isysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.target_point);
@ -396,18 +396,18 @@ public class RCSUtil {
businTaskAddBo.setTaskCode(taskCode);
businTaskAddBo.setAgvNo(agvNo);
Map<String,String> snPointMap = new HashMap<>(3);
snPointMap.put("1",startPoint);
snPointMap.put("2",tmpPoint);
snPointMap.put("3",tmpPoint);
snPointMap.put("4",targetPoint);
Map<String, String> snPointMap = new HashMap<>(3);
snPointMap.put("1", startPoint);
snPointMap.put("2", tmpPoint);
snPointMap.put("3", tmpPoint);
snPointMap.put("4", targetPoint);
//新增任务单据
businTaskAddBo.setTaskStatus("1");
businTaskAddBo.setPoints(JsonUtil.toJSONString(snPointMap));
BusinDataTask businDataTask = BeanUtil.toBean(businTaskAddBo, BusinDataTask.class);
iBusinDataTaskService.insertBusinDataTask(businDataTask);
Long taskId =businDataTask.getId();
Long taskId = businDataTask.getId();
RcsCreateTaskDto dto = new RcsCreateTaskDto();
dto.setMapId(1);
dto.setTaskType(25);
@ -429,7 +429,7 @@ public class RCSUtil {
idList.add(midIdTwo);
idList.add(endId);
dto.setTargets(idList);
return rcsCreateTask(dto);
return rcsCreateTask(dto);
}
/**
@ -449,10 +449,9 @@ public class RCSUtil {
//获取AGV状态信息 推送前端及存储数据库及存储redis
res = res.trim();
RcsThirdResult thirdResult = JSONObject.parseObject(res, RcsThirdResult.class);
if (thirdResult.getCode() == 0){
if (thirdResult.getCode() == 0) {
return Result.ok().data(thirdResult.getData()).msg(thirdResult.getComment());
}else
{
} else {
return Result.err().msg(thirdResult.getComment());
}
} catch (Exception e) {
@ -510,17 +509,18 @@ public class RCSUtil {
/**
* 根据任务ID检查是否紧急出库
*
* @param taskId
*/
public void checkEmergencyOutbound(Long taskId){
public void checkEmergencyOutbound(Long taskId) {
List<BusinDataTaskGoodsVo> businDataTaskGoodsVos = null;
BusinDataTask businDataTask = businDataTaskMapper.selectById(taskId);
if (businDataTask != null){
if (businDataTask != null) {
String taskType = businDataTask.getTaskType();
//是否是紧急出库
if(taskType.equals(TaskTypeEnum.urgent_out.getValue())){
if (taskType.equals(TaskTypeEnum.urgent_out.getValue())) {
//查询物料明细
businDataTaskGoodsVos = businDataTaskGoodsMapper.getTaskGoodsByTaskCodeForOut(taskId);
businDataTaskGoodsVos = businDataTaskGoodsMapper.getTaskGoodsByTaskCodeForOut(taskId);
}
}
redisTemplate.opsForValue().set(RedisConstant.redisEmergencyOutbound, businDataTaskGoodsVos);
@ -534,71 +534,73 @@ public class RCSUtil {
* @return {@code Result}
*/
public Result uploadAgvTaskStatusTmp(AGVUploadStatusBo bo) {
log.info("AGV上报信息："+JsonUtil.toJSONString(bo));
log.info("AGV上报信息：" + JsonUtil.toJSONString(bo));
Long taskID = null;
String[] idArr = bo.getTaskId().split("_");
if(idArr.length > 1){
if (idArr.length > 1) {
taskID = Long.valueOf(idArr[0]);
}else{
} else {
taskID = Long.valueOf(bo.getTaskId());
}
BusinDataTask businDataTask = businDataTaskMapper.selectById(taskID);
if (businDataTask == null){
return Result.err().msg("当前任务号未找到任务信息："+taskID);
if (businDataTask == null) {
return Result.err().msg("当前任务号未找到任务信息：" + taskID);
}
String taskType = businDataTask.getTaskType();
//log.info("AGV上报数据查询到的任务信息：" + JsonUtil.toJSONString(businDataTask));
String tunnl=null;
tunnl=businDataTask.getTunnel();
String tunnl = null;
tunnl = businDataTask.getTunnel();
Long plcId = businDataTask.getPlcId();
Long DPSplcId=businDataTask.getDpsNoOne();
if (StringUtils.isNotEmpty(tunnl)&&(plcId==null||!bo.getSn().equals("2"))&&!"15".equals(businDataTask.getTaskType())){
plcId=DPSplcId;
}
if("15".equals(businDataTask.getTaskType())){
if(bo.getSn().equals("2")){
Long DPSplcId = businDataTask.getDpsNoOne();
if (StringUtils.isNotEmpty(tunnl) && (plcId == null || !bo.getSn().equals("2")) && !"15".equals(taskType)) {
plcId = DPSplcId;
}
if ("15".equals(taskType)) {
if (bo.getSn().equals("2")) {
plcId = 39L;
}
}
if("1".equals(businDataTask.getTaskType())){
if(2 < Integer.parseInt(bo.getSn())){
if ("1".equals(taskType)) {
if (2 < Integer.parseInt(bo.getSn())) {
plcId = 39L;
}
}
String points = businDataTask.getPoints();
Map<String, String> agvMap = new HashMap<>();
if(StringUtils.isNotEmpty(points)){
if (StringUtils.isNotEmpty(points)) {
agvMap = JsonUtil.JsonStrToMap(points);
}
log.info("AGV的点位信息："+agvMap.toString());
log.info("AGV的点位信息：" + agvMap.toString());
WcsPlcConnect conn = iWcsPlcConnectService.selectWcsPlcConnectById(plcId);
String readAddress = "";
String readValueType = "";
String agvPoint="";
String agvPoint = "";
String putAddress = "";
String putAddressVtype = "";
String putAgvPoint ="";
String putAgvPoint = "";
String TaskAddress="";
String TaskddressVtype="";
String TaskPoint="";
String TaskAddress = "";
String TaskddressVtype = "";
String TaskPoint = "";
String overAddress="";
String overValueType="";
String overputAgvPoint="";
String overAddress = "";
String overValueType = "";
String overputAgvPoint = "";
String waringWaitpoint="";
String waringWaitpointType="";
String waringWaitpoint = "";
String waringWaitpointType = "";
Result result = new Result();
result.setCode(200);
result.setResult(true);
//空治具回库
if (businDataTask.getTaskType().equals(TaskTypeEnum.emptyCon.getValue())){
if (taskType.equals(TaskTypeEnum.emptyCon.getValue())) {
BusinDataTask fontbusinDataTask = businDataTaskMapper.selectfrontById(businDataTask);
if (ObjectUtils.isNotEmpty(fontbusinDataTask)) {
QueryWrapper<BusinPickup> pickupQueryWrapper = new QueryWrapper<>();
@ -606,7 +608,7 @@ public class RCSUtil {
List<BusinPickup> businPickupList = businPickupMapper.selectList(pickupQueryWrapper);
if (businPickupList.size() > 0) {
BusinPickup businPickup = businPickupList.get(0);
log.info("空治具回库时，释放码头点位信息："+JsonUtil.toJSONString(businPickup));
log.info("空治具回库时，释放码头点位信息：" + JsonUtil.toJSONString(businPickup));
BasePoint basePoint = iBasePointService.selectBasePointById(Long.valueOf(businPickup.getPointNo()));
basePoint.setIsActive("1");
basePoint.setIsOccupy("0");
@ -620,56 +622,55 @@ public class RCSUtil {
/**
* 只针对机械手输送线和立库输送线
*/
if (wcsPlcProperty.getPointType().equals("8") ) {
if (StringUtils.isNotEmpty(tunnl)&&(wcsPlcProperty.getTunnel()).equals(tunnl)){
if (wcsPlcProperty.getPointType().equals("8")) {
if (StringUtils.isNotEmpty(tunnl) && (wcsPlcProperty.getTunnel()).equals(tunnl)) {
//放料完成点位
putAddress = wcsPlcProperty.getAddress();
putAddressVtype = wcsPlcProperty.getValueType();
agvPoint =wcsPlcProperty.getRelPoint();
}else if (StringUtils.isEmpty(tunnl)){
agvPoint = wcsPlcProperty.getRelPoint();
} else if (StringUtils.isEmpty(tunnl)) {
//放料完成点位
putAddress = wcsPlcProperty.getAddress();
putAddressVtype = wcsPlcProperty.getValueType();
agvPoint = wcsPlcProperty.getRelPoint();
}else if (businDataTask.getTaskType().equals("15")){
} else if (taskType.equals("15")) {
putAddress = wcsPlcProperty.getAddress();
putAddressVtype = wcsPlcProperty.getValueType();
agvPoint =wcsPlcProperty.getRelPoint();
agvPoint = wcsPlcProperty.getRelPoint();
}
} else if (wcsPlcProperty.getPointType().equals("1") ) {
if (StringUtils.isNotEmpty(tunnl)&&(wcsPlcProperty.getTunnel()).equals(tunnl)){
//点位类型=1，是否允许放料
readAddress = wcsPlcProperty.getAddress();
readValueType = wcsPlcProperty.getValueType();
putAgvPoint=wcsPlcProperty.getRelPoint();
}else if (StringUtils.isEmpty(tunnl)){
} else if (wcsPlcProperty.getPointType().equals("1")) {
if (StringUtils.isNotEmpty(tunnl) && (wcsPlcProperty.getTunnel()).equals(tunnl)) {
//点位类型=1，是否允许放料
readAddress = wcsPlcProperty.getAddress();
readValueType = wcsPlcProperty.getValueType();
putAgvPoint = wcsPlcProperty.getRelPoint();
} else if (StringUtils.isEmpty(tunnl)) {
//点位类型=1，是否允许放料
readAddress = wcsPlcProperty.getAddress();
readValueType = wcsPlcProperty.getValueType();
putAgvPoint=wcsPlcProperty.getRelPoint();
putAgvPoint = wcsPlcProperty.getRelPoint();
}
}else if(wcsPlcProperty.getPointType().equals("6") && StringUtils.isNotEmpty(tunnl)&&(wcsPlcProperty.getTunnel()).equals(tunnl)){
} else if (wcsPlcProperty.getPointType().equals("6") && StringUtils.isNotEmpty(tunnl) && (wcsPlcProperty.getTunnel()).equals(tunnl)) {
//请求入库
//只针对立库输送线
TaskAddress= wcsPlcProperty.getAddress();
TaskddressVtype=wcsPlcProperty.getValueType();
TaskPoint=wcsPlcProperty.getRelPoint();
}
else if(wcsPlcProperty.getPointType().equals("7")){
if (StringUtils.isNotEmpty(tunnl)&&(wcsPlcProperty.getTunnel()).equals(tunnl)||wcsPlcProperty.getTunnel().equals("0")){
TaskAddress = wcsPlcProperty.getAddress();
TaskddressVtype = wcsPlcProperty.getValueType();
TaskPoint = wcsPlcProperty.getRelPoint();
} else if (wcsPlcProperty.getPointType().equals("7")) {
if (StringUtils.isNotEmpty(tunnl) && (wcsPlcProperty.getTunnel()).equals(tunnl) || wcsPlcProperty.getTunnel().equals("0")) {
//点位类型=7，取料完成
overAddress = wcsPlcProperty.getAddress();
overValueType = wcsPlcProperty.getValueType();
overputAgvPoint=wcsPlcProperty.getRelPoint();
}else if (StringUtils.isEmpty(tunnl)){
overputAgvPoint = wcsPlcProperty.getRelPoint();
} else if (StringUtils.isEmpty(tunnl)) {
//点位类型=7，取料完成
overAddress = wcsPlcProperty.getAddress();
overValueType = wcsPlcProperty.getValueType();
overputAgvPoint=wcsPlcProperty.getRelPoint();
overputAgvPoint = wcsPlcProperty.getRelPoint();
}
}else if(wcsPlcProperty.getPointType().equals("wait")){
} else if (wcsPlcProperty.getPointType().equals("wait")) {
waringWaitpoint = wcsPlcProperty.getAddress();
waringWaitpointType = wcsPlcProperty.getValueType();
}
@ -700,60 +701,60 @@ public class RCSUtil {
Map allWriteMap = new HashMap(2);
Map overWriteMap = new HashMap(2);
log.info("overputAgvPoint:"+overputAgvPoint);
log.info("overputAgvPoint:" + overputAgvPoint);
//写入agv取货完成
if(StringUtils.isNotEmpty(overputAgvPoint)) {
if (StringUtils.isNotEmpty(overputAgvPoint)) {
if (bo.getStatus().equals("completed") && overputAgvPoint.equals(taskAgvpoint)) {
Map writeMap = new HashMap(1);
writeMap.put(overValueType, "true");
overWriteMap.put(overAddress, writeMap);
Boolean over = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(overWriteMap));
int i=0;
while (!over&&i<50){
int i = 0;
while (!over && i < 50) {
over = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(overWriteMap));
i++;
}
log.info("是否取货完成"+over+" 取货完成点位:"+overputAgvPoint+" 任务号:"+bo.getTaskId()+" 写入次数:"+i+" 写入点位:"+overAddress);
log.info("是否取货完成" + over + " 取货完成点位:" + overputAgvPoint + " 任务号:" + bo.getTaskId() + " 写入次数:" + i + " 写入点位:" + overAddress);
if (businDataTask.getTaskPath().equals(ParameterConstants.ParameterSystem.assemble_point_before)
|| businDataTask.getTaskPath().equals(ParameterConstants.ParameterSystem.assemble_point_after)) {
int temp = 0;
String assemblePointType = RedisConstant.assemblePointBeforeTaskCount;
//小组装等待点位为一个，设置等待数也只需要一个
if(businDataTask.getTaskPath().equals(ParameterConstants.ParameterSystem.assemble_point_after)){
if (businDataTask.getTaskPath().equals(ParameterConstants.ParameterSystem.assemble_point_after)) {
assemblePointType = RedisConstant.assemblePointAfterTaskCount;
}
if (ObjectUtils.isEmpty(redisTemplate.opsForValue().get(assemblePointType))) {
redisTemplate.opsForValue().set(assemblePointType, 1);
}else{
} else {
temp = Integer.parseInt(redisTemplate.opsForValue().get(assemblePointType).toString());
if (temp < 3) {
redisTemplate.opsForValue().set(assemblePointType, ++temp);
}
}
log.info("添加小组装等待数完成！点位："+assemblePointType+"数量为：" + temp);
log.info("添加小组装等待数完成！点位：" + assemblePointType + "数量为：" + temp);
}
}
}
//到达紧急出库点位时调用checkEmergencyOutbound方法
String tepairGroup = sysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.urgency_out_point);
BasePointDeviceQueryBo pointQueryBo = new BasePointDeviceQueryBo();
String outPoint ="";
String outPoint = "";
pointQueryBo.setGroupNo(tepairGroup);
BasePointDeviceVo pointDeviceout = basePointDeviceMapper.selectBasePointByGroupno(pointQueryBo);
if (pointDeviceout==null){
if (pointDeviceout == null) {
log.info("请维护紧急出库接驳点");
}
outPoint=pointDeviceout.getPointNo();
outPoint = pointDeviceout.getPointNo();
if (bo.getStatus().equals("completed") && outPoint.equals(taskAgvpoint)) {
checkEmergencyOutbound(Long.valueOf(bo.getTaskId()));
}
//放置治具完成状态，回填AGV放置治具完成状态
log.info("agvPoint:"+agvPoint);
log.info("taskAgvPoint:"+taskAgvpoint);
log.info("agvPoint:" + agvPoint);
log.info("taskAgvPoint:" + taskAgvpoint);
if (bo.getStatus().equals("completed") && agvPoint.equals(taskAgvpoint)) {
Map writeMap = new HashMap(1);
writeMap.put(putAddressVtype, "true");
@ -761,36 +762,36 @@ public class RCSUtil {
* A-->b-->c场景不适用写入
*/
allWriteMap.put(putAddress, writeMap);
if (tunnl != ""&&tunnl!=null && !businDataTask.getTaskType().equals("15")) {
if (tunnl != "" && tunnl != null && !taskType.equals("15")) {
Map taskidMap = new HashMap(1);
Map TaskwriteMap = new HashMap(1);
TaskwriteMap.put(TaskddressVtype, bo.getTaskId());
taskidMap.put(TaskAddress, TaskwriteMap);
Boolean aBoolean=plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(taskidMap));
int i=0;
while (!aBoolean&&i<50) {
Boolean aBoolean = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(taskidMap));
int i = 0;
while (!aBoolean && i < 50) {
aBoolean = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(taskidMap));
i++;
}
log.info("写入放货完成任务号是否成功:"+aBoolean+" 任务号:"+bo.getTaskId()+" 写入次数:"+i+" 写入内容:"+TaskAddress);
log.info("写入放货完成任务号是否成功:" + aBoolean + " 任务号:" + bo.getTaskId() + " 写入次数:" + i + " 写入内容:" + TaskAddress);
}
Boolean aBoolean=plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(allWriteMap));
int i=0;
while (!aBoolean&&i<50) {
Boolean aBoolean = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(allWriteMap));
int i = 0;
while (!aBoolean && i < 50) {
aBoolean = plcReadAndWrite.execWrite(plcOperate, JSON.toJSONString(allWriteMap));
i++;
}
log.info("写入放货完成是否成功:"+aBoolean+" 任务号:"+bo.getTaskId()+" 写入次数:"+i+" 写入的点位:"+putAddress);
log.info("写入放货完成是否成功:" + aBoolean + " 任务号:" + bo.getTaskId() + " 写入次数:" + i + " 写入的点位:" + putAddress);
if(TaskTypeEnum.mechainical.getValue().equals(businDataTask.getTaskType())|| TaskTypeEnum.emptyContainer_out.getValue().equals(businDataTask.getTaskType())){
if (TaskTypeEnum.mechainical.getValue().equals(taskType) || TaskTypeEnum.emptyContainer_out.getValue().equals(taskType)) {
BusinDpscontainerRecord oneByTask = businDpsContainerRecordMapper.selectByTaskid(String.valueOf(businDataTask.getId()));
oneByTask.setIsState("3");
businDpsContainerRecordMapper.updateById(oneByTask);
}
if (TaskTypeEnum.emptyCon.getValue().equals(businDataTask.getTaskType()) ||
TaskTypeEnum.mechainical.getValue().equals(businDataTask.getTaskType())
||TaskTypeEnum.emptyContainer_out.getValue().equals(businDataTask.getTaskType())) {
if (TaskTypeEnum.emptyCon.getValue().equals(taskType) ||
TaskTypeEnum.mechainical.getValue().equals(taskType)
|| TaskTypeEnum.emptyContainer_out.getValue().equals(taskType)) {
//更改任务状态为已完成
businDataTask.setTaskStatus("2");
businDataTaskMapper.updateById(businDataTask);
@ -807,35 +808,35 @@ public class RCSUtil {
// 4#入口 DB320.2.8
// 5#入口 DB320.2.10
// 6#入口 DB320.2.12
if ("KW5".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW5".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.2", write1);
}
if ("KW7".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW7".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.4", write1);
}
if ("KW9".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW9".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.5", write1);
}
if ("KW22".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW22".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.8", write1);
}
if ("KW24".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW24".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.10", write1);
}
if ("KW26".equals(businDataTask.getTaskPath())){
write1.put("Boolean","true");
if ("KW26".equals(businDataTask.getTaskPath())) {
write1.put("Boolean", "true");
allHbMap.put("DB320.2.12", write1);
}
String writePoint = JSON.toJSONString(allHbMap);
PlcOperate plcOperateWrite =plcInit.getPlcOperateByIp(conn1.getPlcIp());
PlcOperate plcOperateWrite = plcInit.getPlcOperateByIp(conn1.getPlcIp());
Boolean execWrite = plcReadAndWrite.execWrite(plcOperateWrite, writePoint);
if (execWrite){
log.info("++++++++++++" + businDataTask.getTaskPath()+"打开安全光电成功");
if (execWrite) {
log.info("++++++++++++" + businDataTask.getTaskPath() + "打开安全光电成功");
}
return Result.ok();
@ -997,24 +998,23 @@ public class RCSUtil {
// }
String assemblePointGroupBefore = sysParameterService.selectConfigByKey(ParameterConstants.ParameterSystem.Manual_drop_point);
BasePointDeviceQueryBo pointReportQueryBoBefore = new BasePointDeviceQueryBo();
String assemblePointBefore ="";
String assemblePointAfter ="";
String assemblePointBefore = "";
String assemblePointAfter = "";
pointReportQueryBoBefore.setGroupNo(assemblePointGroupBefore);
List<BasePointDeviceVo> assemblePointDeviceOutBefore = basePointDeviceMapper.getBasePointByGroupNoList(pointReportQueryBoBefore);
if(ObjectUtils.isEmpty(assemblePointDeviceOutBefore)){
if (ObjectUtils.isEmpty(assemblePointDeviceOutBefore)) {
log.info("请维护组装线点位");
}
for (BasePointDeviceVo str : assemblePointDeviceOutBefore) {
if (str.getPointNo().equals(ParameterConstants.ParameterSystem.assemble_point_after)) {
assemblePointAfter =ParameterConstants.ParameterSystem.assemble_point_after;
assemblePointAfter = ParameterConstants.ParameterSystem.assemble_point_after;
}
if (str.getPointNo().equals(ParameterConstants.ParameterSystem.assemble_point_before)) {
assemblePointBefore =ParameterConstants.ParameterSystem.assemble_point_before;
assemblePointBefore = ParameterConstants.ParameterSystem.assemble_point_before;
}
}
@ -1027,7 +1027,7 @@ public class RCSUtil {
assemblyLineAddBo.setTaskId(businDataTask.getId());
assemblyLineAddBo.setAgvNo(businDataTask.getAgvNo());
assemblyLineAddBo.setTaskType(businDataTask.getTaskType());
assemblyLineAddBo.setTaskType(taskType);
assemblyLineAddBo.setContainerId(businDataTask.getContainerId());
assemblyLineAddBo.setPointNo(assemblePointBefore);
@ -1050,13 +1050,13 @@ public class RCSUtil {
}
// 到达组装线前杠点位之后的业务逻辑处理
if (bo.getStatus().equals("completed") && assemblePointAfter.equals(taskAgvpoint)&& businDataTask.getTaskPath().equals(assemblePointAfter) && assemblePointAfter.equals(ParameterConstants.ParameterSystem.assemble_point_after)) {
if (bo.getStatus().equals("completed") && assemblePointAfter.equals(taskAgvpoint) && businDataTask.getTaskPath().equals(assemblePointAfter) && assemblePointAfter.equals(ParameterConstants.ParameterSystem.assemble_point_after)) {
// TODO 测试注释 要打开
AssemblyLineAddBo assemblyLineAddBo = new AssemblyLineAddBo();
assemblyLineAddBo.setTaskId(businDataTask.getId());
assemblyLineAddBo.setAgvNo(businDataTask.getAgvNo());
assemblyLineAddBo.setTaskType(businDataTask.getTaskType());
assemblyLineAddBo.setTaskType(taskType);
assemblyLineAddBo.setContainerId(businDataTask.getContainerId());
assemblyLineAddBo.setPointNo(assemblePointAfter);
@ -1072,10 +1072,10 @@ public class RCSUtil {
pointQueryBo.setGroupNo(abnormalWaitPintGroup);
// TODO 中科 测试 需要删除 修改平库释放后直接去下挂逻辑,后续不需要可以删掉
if(bo.getSn().equals("3") && bo.getStatus().equals("completed")&&"KW18".equals(taskAgvpoint)){
if (bo.getSn().equals("3") && bo.getStatus().equals("completed") && "KW18".equals(taskAgvpoint)) {
businDataTask.setTaskStatus("2");
iBusinDataTaskService.updateById(businDataTask);
// 创建任务
// 创建任务
// BusinDataTask task = new BusinDataTask();
// task.setTaskCode("T_" + DateUtils.dateTimeNow());
// task.setTaskPath("KW16");
@ -1131,7 +1131,7 @@ public class RCSUtil {
// log.error(task.toString());
//平库空治具流向接口
Result<Boolean> kw18Result = iBusinEnptyContainerService.emptyContainerFlowDir("KW18", businDataTask.getContainerId(), bo.getRobotId(), null);
log.info("平库空治具流向接口:"+kw18Result.getMsg());
log.info("平库空治具流向接口:" + kw18Result.getMsg());
}
// TODO 中科 测试 需要删除
@ -1216,26 +1216,27 @@ public class RCSUtil {
List<BasePointDeviceVo> basePointDeviceVos = baseLocationPlcMapper.selectBasePointByGroupno(pointQueryBo);
if (basePointDeviceVos.size() > 0) {
for (BasePointDeviceVo basePointDeviceVo: basePointDeviceVos) {
if(basePointDeviceVo.getPointNo().contains("KW11")){
for (BasePointDeviceVo basePointDeviceVo : basePointDeviceVos) {
if (basePointDeviceVo.getPointNo().contains("KW11")) {
toPointNoTwo = basePointDeviceVo.getPointNo();
}else{
} else {
toPointNoOne = basePointDeviceVo.getPointNo();
}
}
}
// 如果到达 冲孔取货点位 就修改当前任务ID并且将任务ID存入redis 用于之后的冲孔流程使用
if(bo.getStatus().equals("completed")&& toPointNoOne.equals(taskAgvpoint) && toPointNoOne.equals(businDataTask.getTaskPath())){
if (bo.getStatus().equals("completed") && toPointNoOne.equals(taskAgvpoint) && toPointNoOne.equals(businDataTask.getTaskPath())) {
businDataTask.setTaskStatus("2");
iBusinDataTaskService.updateById(businDataTask);
BasePunchRecord basePunchRecord = iBasePunchRecordService.getOne(new LambdaQueryWrapper<BasePunchRecord>()
.eq(BasePunchRecord::getTaskCode,Long.valueOf(bo.getTaskId()))
.eq(BasePunchRecord::getTaskCode, Long.valueOf(bo.getTaskId()))
.last("limit 1"));
basePunchRecord.setAgvNo(bo.getRobotId());
iBasePunchRecordService.updateById(basePunchRecord);;
redisTemplate.opsForValue().set(RedisConstant.startPunchingTaskId, bo.getTaskId()+"_"+bo.getRobotId()+"_"+businDataTask.getContainerId());
redisTemplate.opsForValue().set(RedisConstant.endPunchingTaskId, bo.getTaskId()+"_"+bo.getRobotId()+"_"+businDataTask.getContainerId());
iBasePunchRecordService.updateById(basePunchRecord);
;
redisTemplate.opsForValue().set(RedisConstant.startPunchingTaskId, bo.getTaskId() + "_" + bo.getRobotId() + "_" + businDataTask.getContainerId());
redisTemplate.opsForValue().set(RedisConstant.endPunchingTaskId, bo.getTaskId() + "_" + bo.getRobotId() + "_" + businDataTask.getContainerId());
}
// 如果到达 冲孔放货点位 就修改当前任务ID并且将任务ID存入redis 用于之后的冲孔流程使用
@ -1269,16 +1270,17 @@ public class RCSUtil {
// }
// }
// 新增安全光电相关逻辑
// 新增安全光电相关逻辑
// if (TaskTypeEnum.normal_in.getValue().equals(businDataTask.getTaskType())
// ||TaskTypeEnum.empty_in.getValue().equals(businDataTask.getTaskType())
// && bo.getSn().equals("3") && bo.getStatus().equals("completed")){
//
// }
if (TaskTypeEnum.emptyContainer_out.getValue().equals(businDataTask.getTaskType())
||TaskTypeEnum.normal_out.getValue().equals(businDataTask.getTaskType())
||TaskTypeEnum.urgent_out.getValue().equals(businDataTask.getTaskType())){
if (TaskTypeEnum.emptyContainer_out.getValue().equals(taskType)
|| TaskTypeEnum.normal_out.getValue().equals(taskType)
|| TaskTypeEnum.urgent_out.getValue().equals(taskType)
|| TaskTypeEnum.named_loc.getValue().equals(taskType)) {
Map<String, String> pointMap = JsonUtil.JsonStrToMap(businDataTask.getPoints());
String s1 = pointMap.get("1");
String s2 = pointMap.get("2");
@ -1288,80 +1290,79 @@ public class RCSUtil {
// 4#出口 DB320.2.9
// 5#出口 DB320.2.11
// 6#出口 DB320.2.13
if ("1".equals(bo.getSn())&&"completed".equals(bo.getStatus())){
if ("KW6".equals(s1)){
writeMap1.put("Boolean","false");
if ("1".equals(bo.getSn()) && "completed".equals(bo.getStatus())) {
if ("KW6".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.3", writeMap1);
}
if ("KW8".equals(s1)){
writeMap1.put("Boolean","false");
if ("KW8".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.7", writeMap1);
}
if ("KW10".equals(s1)){
writeMap1.put("Boolean","false");
if ("KW10".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.6", writeMap1);
}
if ("KW23".equals(s1)){
writeMap1.put("Boolean","false");
if ("KW23".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.9", writeMap1);
}
if ("KW25".equals(s1)){
writeMap1.put("Boolean","false");
if ("KW25".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.11", writeMap1);
}
if ("KW27".equals(s1)){
writeMap1.put("Boolean","false");
if ("KW27".equals(s1)) {
writeMap1.put("Boolean", "false");
allHbMap.put("DB320.2.13", writeMap1);
}
}
if("2".equals(bo.getSn())&&"completed".equals(bo.getStatus())){
if ("LY80".equals(s2)){
writeMap1.put("Boolean","true");
if ("2".equals(bo.getSn()) && "completed".equals(bo.getStatus())) {
if ("LY80".equals(s2)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.3", writeMap1);
}
if ("LY82".equals(s2)){
writeMap1.put("Boolean","true");
if ("LY82".equals(s2)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.7", writeMap1);
}
if ("LY84".equals(s2)){
writeMap1.put("Boolean","true");
if ("LY84".equals(s2)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.6", writeMap1);
}
if ("LY244".equals(s1)){
writeMap1.put("Boolean","true");
if ("LY244".equals(s1)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.9", writeMap1);
}
if ("LY247".equals(s1)){
writeMap1.put("Boolean","true");
if ("LY247".equals(s1)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.11", writeMap1);
}
if ("LY250".equals(s1)){
writeMap1.put("Boolean","true");
if ("LY250".equals(s1)) {
writeMap1.put("Boolean", "true");
allHbMap.put("DB320.2.13", writeMap1);
}
}
String writePoint = JSON.toJSONString(allHbMap);
PlcOperate plcOperateWrite = plcInit.getPlcOperateByIp(conn1.getPlcIp());
Boolean execWrite = plcReadAndWrite.execWrite(plcOperateWrite, writePoint);
if (execWrite){
log.info("++++++++++++" + s1+"关闭安全光电成功");
if (execWrite) {
log.info("++++++++++++" + s1 + "关闭安全光电成功");
}
}
log.info("agv上报接口执行结束");
return Result.ok();
}
/**
* 呼叫AGV
*
* @param taskId
* @param taskType
* @param points
* @return
*/
public Result<Boolean> callAGV(Long taskId,int taskType, List<String> points){
public Result<Boolean> callAGV(Long taskId, int taskType, List<String> points) {
AGVMoveBo moveBo = new AGVMoveBo();
moveBo.setTaskId(taskId);
moveBo.setTaskType(taskType);
@ -1372,44 +1373,47 @@ public class RCSUtil {
/**
* 添加角度
* @author Comair
* @date 2023/7/21 20:09
*
* @param taskId
* @param taskType
* @param points
* @param toRow
* @return com.shkj.common.core.domain.Result<java.lang.Boolean>
* @author Comair
* @date 2023/7/21 20:09
*/
public Result<Boolean> callAGV(Long taskId,int taskType, List<String> points,String toRow){
public Result<Boolean> callAGV(Long taskId, int taskType, List<String> points, String toRow) {
// List<Integer> list = Arrays.asList(1,2,5,7,9,11,13,14);
AGVMoveBo moveBo = new AGVMoveBo();
moveBo.setTaskId(taskId);
moveBo.setTaskType(taskType);
moveBo.setPoints(points);
Result<Boolean> booleanResult = null;
if("0".equals(taskType) || "7".equals(taskType)){
booleanResult = moveByAGV(moveBo,toRow);
if ("0".equals(taskType) || "7".equals(taskType)) {
booleanResult = moveByAGV(moveBo, toRow);
// if(list.contains(Integer.parseInt(toRow))){
//
// }else{
// booleanResult = moveByAGV(moveBo,0);
// }
}else{
} else {
booleanResult = moveByAGV(moveBo);
}
return booleanResult;
}
/**
* 添加角度
* @author Comair
* @date 2023/7/21 20:09
*
* @param taskId
* @param taskType
* @param points
* @param toRow
* @return com.shkj.common.core.domain.Result<java.lang.Boolean>
* @author Comair
* @date 2023/7/21 20:09
*/
public Result<Boolean> callAGV(Long taskId,int taskType, List<String> points,String toRow,String agvno){
public Result<Boolean> callAGV(Long taskId, int taskType, List<String> points, String toRow, String agvno) {
//List<Integer> list = Arrays.asList(1,2,5,7,9,11,13,14);
AGVMoveBo moveBo = new AGVMoveBo();
moveBo.setTaskId(taskId);
@ -1417,31 +1421,31 @@ public class RCSUtil {
moveBo.setPoints(points);
moveBo.setRobotId(agvno);
Result<Boolean> booleanResult = null;
if("0".equals(taskType) || "7".equals(taskType)){
booleanResult = moveByAGV(moveBo,toRow);
if ("0".equals(taskType) || "7".equals(taskType)) {
booleanResult = moveByAGV(moveBo, toRow);
// if(list.contains(Integer.parseInt(toRow))){
//
// }else{
// booleanResult = moveByAGV(moveBo,0);
// }
}else{
} else {
booleanResult = moveByAGV(moveBo);
}
return booleanResult;
}
/**
* 获取AGV的实时数据，并存储至Redis中
*
* @param mapId
*/
public void doAgvStates(String mapId){
public void doAgvStates(String mapId) {
//获取AGV系统的实时数据
String agvData = rcsRobotsStatesForString(mapId);
// log.info("AGV实时数据："+agvData);
// log.info("AGV实时数据："+agvData);
//处理设备信息，存redis中
this.doAGVRobotsStatesForRedis(agvData);
}
@ -1454,10 +1458,10 @@ public class RCSUtil {
* @return {@code Result}
*/
public String rcsRobotsStatesForString(String mapId) {
Map<String,Object> map = new HashMap<>();
// map.put("mapId",Integer.parseInt(mapId));
Map<String, Object> map = new HashMap<>();
// map.put("mapId",Integer.parseInt(mapId));
String json = JSONObject.toJSONString(map);
String res="";
String res = "";
try {
Map<String, String> headerMap = getHeaderMap();
res = HttpRequest.post(agvStatesUrl)
@ -1475,13 +1479,14 @@ public class RCSUtil {
/**
* AGV设备实时状态，存储至Redis中
*
* @param agvData
*/
public void doAGVRobotsStatesForRedis(String agvData){
public void doAGVRobotsStatesForRedis(String agvData) {
//log.info("处理agv设备状态信息开始");
if (StringUtils.isNotEmpty(agvData)){
if (StringUtils.isNotEmpty(agvData)) {
RcsThirdResult thirdResult = JSONObject.parseObject(agvData, RcsThirdResult.class);
List<BusinAgvRealRedisInfo> redisList = new ArrayList<>();
List<BusinAgvRealRedisInfo> redisList = new ArrayList<>();
List<BusinAgvRealInfo> list = JSONArray.parseArray(thirdResult.getData().toString(), BusinAgvRealInfo.class);
BusinAgvRealRedisInfo businAgvRealRedisInfo = null;
for (BusinAgvRealInfo businAgvRealInfo : list) {
@ -1493,17 +1498,17 @@ public class RCSUtil {
businAgvRealRedisInfo.setTaskId(businAgvRealInfo.getTaskId());
//如果在线状态是离线，则为离线，其他为AGV状态信息
if (online.equals("false")){
if (online.equals("false")) {
businAgvRealRedisInfo.setAgvState(online);
}else {
} else {
businAgvRealRedisInfo.setAgvState(agvState);
}
businAgvRealRedisInfo.setErrors(businAgvRealInfo.getErrors());
redisList.add(businAgvRealRedisInfo);
}
redisTemplate.opsForValue().set(RedisConstant.redisAgvRealInfo ,redisList);
}else {
redisTemplate.opsForValue().set(RedisConstant.redisAgvRealInfo, redisList);
} else {
log.info("AGV实时数据为空");
}
}

7
shkj-wms/src/main/resources/mapper/wms/BaseLocationMapper.xml
Unescape View File

@ -518,7 +518,7 @@
<select id="getBaseLocationForMap" resultType="com.shkj.wms.vo.BaseLocationVo"
parameterType="com.shkj.wms.bo.BaseLocationQueryPageBo">
select
loc.*
distinct loc.*
from base_location loc
left join sys_stock_detail stock on loc.id =stock.location_id
left join base_container con on stock.container_code=con.id
@ -560,6 +560,11 @@
<if test="locationName != null and locationName != ''">
and l.location_name like concat('%', #{locationName},'%')
</if>
<if test="tunnel != null and tunnel != ''">
and l.tunnel like concat('%', #{tunnel},'%')
</if>
</select>

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