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Merge branch 'master' of http://git.picaiba.com/mt-ck/mt-qj-wms-hd

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李广豪
2022-07-09 22:03:37 +08:00
parent 591716ebc8 0a1c21970b
commit 0c026853ef
8 changed files with 366 additions and 183 deletions
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6
6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/CurrTaskController.java
View File

@@ -119,6 +119,7 @@ public class CurrTaskController extends BaseController {
if (processSheet.getData().getSuccess())
{
//apms创建成功后写入数据库
param.setAutoTaskType(0);
R<IdVo> mainTask = currTaskService.createProcessTask(param);
currTaskDetService.createProcessTaskDet(param.getDetParams(), mainTask.getData().getId());
String sheetNo = processSheet.getData().getSheetNo();
@@ -127,7 +128,7 @@ public class CurrTaskController extends BaseController {
currTaskById.setSheetNo(sheetNo);
currTaskService.updateCurrTaskById(currTaskById);
//生成详细任务中的检验结果数据在apms推送生产单结果时创建
return successful("创建成功，任务添加至等待执行队列。");
return successful(0,"创建成功，任务添加至等待执行队列。","");
}
else
{
@@ -237,6 +238,7 @@ public class CurrTaskController extends BaseController {
//将返回的生产单号写入到主任务中。
CurrTask currTaskById = currTaskService.getCurrTaskById(mainTask.getData().getId());
currTaskById.setSheetNo(sheetNo);
currTaskById.setAutoExeTaskId(autoExeTask.getId());
currTaskService.updateCurrTaskById(currTaskById);
//生成详细任务中的检验结果数据在apms推送生产单结果时创建
//return successful("创建成功，任务添加至等待执行队列。");
@@ -248,7 +250,7 @@ public class CurrTaskController extends BaseController {
}
i++;
}
return null;
return successful(0,"操作成功,任务加入待执行队列","");
}
@PostMapping(value = "mainCurrentTaskNow")

95
6.program/wms-empty/src/main/java/com/mt/wms/empty/service/impl/CurrTaskServiceImpl.java
View File

@@ -78,6 +78,8 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
AutoExeTaskServiceBiz autoExeTaskServiceBiz;
@Autowired
KilnInfoServiceBiz kilnInfoServiceBiz;
@Autowired
LocationServiceBiz locationServiceBiz;
@Override
public CurrTaskVo getCurrTask(IdParam idParam) {
@@ -104,6 +106,9 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
BeanUtils.copyProperties(param, currTask);
currTask.setTaskType(TaskTypeEnum.WTK.getValue());
KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId());
if (param.getAutoTaskType()!=0){
currTask.setIsAuto(1);
}
//根据工艺号查询工艺id以及工艺plc值
CraftInfo one = craftInfoServiceBiz.getOne(new QueryWrapper<CraftInfo>().eq(CraftInfo.CRAFT_CODE, param.getCraftCode()));
@@ -151,34 +156,76 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
@Override
public R<String> deleteBySheetNo(String sheetNo) {
CurrTask byId = currTaskServiceBiz.getOne(new QueryWrapper<CurrTask>().eq(CurrTask.SHEET_NO, sheetNo));
//如果尚未执行（状态 0）
if (byId.getStatus() == 0)
{
//一个生产单可能对应多个currTask,删除的时候查询是否对应多个，如果对应多个，自动循环删除所有currTask,当删除最后一条currTask时上报apms
List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.SHEET_NO, sheetNo));
if (currTaskList.size()>1){
int i=0;
for (CurrTask currTask:currTaskList
) {
i++;
if(currTask.getStatus()==0){
if (i==currTaskList.size()){
R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
if (!apmsStartProcessR.getData().getSuccess()){
return failed(apmsStartProcessR.getData().getMsg());
}
}
Long currTaskId = currTask.getId();
if (currTask.getIsAuto()==1){
List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
if (currTaskList2.size()==1){
autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
}
}
currTaskServiceBiz.removeById(currTaskId);
currTaskDetService.deleteByCurrTaskId(currTaskId);
R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
if (apmsStartProcessR.getData().getSuccess())
{
Long currTaskId = byId.getId();
currTaskServiceBiz.removeById(currTaskId);
currTaskDetService.deleteByCurrTaskId(currTaskId);
if (byId.getIsAuto()==1){
List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, byId.getAutoExeTaskId()));
if (currTaskList.size()==0){
autoExeTaskServiceBiz.removeById(byId.getAutoExeTaskId());
}
if (currTask.getStatus()==2){
return failed("无法删除，任务已加工完成。");
}if (currTask.getStatus()==1){
return failed("无法删除，任务正在执行中。");
}
}
return successful(0,"APMS生产单删除成功。","");
}else {
for (CurrTask currTask:currTaskList
) {
if (currTask.getStatus()==0){
R<ApmsEndProcessVo> apmsStartProcessR = apmsControl.deleteBySheetNo(sheetNo);
if (apmsStartProcessR.getData().getSuccess())
{
Long currTaskId = currTask.getId();
if (currTask.getIsAuto()==1){
List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
if (currTaskList2.size()==1){
autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
}
}
currTaskServiceBiz.removeById(currTaskId);
currTaskDetService.deleteByCurrTaskId(currTaskId);
if (currTask.getIsAuto()==1){
List<CurrTask> currTaskList2 = currTaskServiceBiz.list(new QueryWrapper<CurrTask>().eq(CurrTask.AUTO_EXE_TASK_ID, currTask.getAutoExeTaskId()));
if (currTaskList2.size()==0){
autoExeTaskServiceBiz.removeById(currTask.getAutoExeTaskId());
}
}
return successful(0,"APMS生产单删除成功。","");
}
else
{
return failed(apmsStartProcessR.getData().getMsg());
}
}
return successful("APMS生产单删除成功。");
}
else
{
return failed(apmsStartProcessR.getData().getMsg());
if (currTask.getStatus()==2){
return failed("无法删除，任务已加工完成。");
}if (currTask.getStatus()==1){
return failed("无法删除，任务正在执行中。");
}
}
}
if (byId.getStatus()==2){
return failed("无法删除，任务已加工完成。");
}
return failed("无法删除，任务正在执行中。");
return failed("根据生产单号删除任务失败！");
}
@@ -211,6 +258,8 @@ public class CurrTaskServiceImpl extends BaseService implements CurrTaskService
}
);
e.setCustomers(customers);
e.setKilnName(e.getTargetPosition());
e.setLocationName(locationServiceBiz.getById(e.getLocationId()).getLocationName());
});
return successful(pageVo);
}

2
6.program/wms-empty/src/main/java/com/mt/wms/empty/service/impl/StockInfoServiceImpl.java
View File

@@ -47,7 +47,7 @@ public class StockInfoServiceImpl extends BaseService implements StockInfoServic
List<CurrTaskDetVo> currTaskDetVoList = com.mt.wms.core.utils.BeanUtils.copyList(currTaskDetList, CurrTaskDetVo.class);
for (CurrTaskDetVo currTaskDetVo:currTaskDetVoList
) {
String costomerName = orderInfoServiceBiz.getOne(new QueryWrapper<OrderInfo>().eq("order_no", currTaskDetVo.getOrderNo())).getCustomerName();
String costomerName = orderInfoServiceBiz.getOne(new QueryWrapper<OrderInfo>().eq(OrderInfo.IDEN_CARD_NUM, currTaskDetVo.getIdenCardNum())).getCustomerName();
currTaskDetVo.setCustomer(costomerName);
}
return successful(currTaskDetVoList);

269
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
View File

@@ -86,35 +86,8 @@ public class AsynRunTaskService extends BaseService {
public void asynRunTask(Long currTaskId,Long vehicleId) throws IOException {
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,0);
if (status!=1){
logger.info("===执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}
}else {
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}
}
//检查车辆是否冲突，冲突则避让
rgvStatus(vehicleId,currTask);
//新建一条执行任务的关系表存放任务执行信息
RunTask runTask=new RunTask();
runTask.setTaskId(currTask.getId());
@@ -168,35 +141,8 @@ public class AsynRunTaskService extends BaseService {
Long currTaskId = inStockInfo.getTaskId();
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(),currTask.getTargetPosition(), rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}
}else {
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId,location.getCode(),currTask.getTargetPosition(), rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}
}
//检查车辆是否冲突，冲突则避让
rgvStatus(vehicleId,currTask);
//新建一条执行任务的关系表存放任务执行信息
RunTask runTask=new RunTask();
runTask.setTaskId(currTask.getId());
@@ -262,35 +208,8 @@ public class AsynRunTaskService extends BaseService {
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
Location location = locationServiceBiz.getById(currTask.getLocationId());
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), location.getCode(), rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}
}else {
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), location.getCode(), rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}
}
//检查车辆是否冲突，冲突则避让
rgvStatus(vehicleId,currTask);
//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
RunTask runTask=new RunTask();
runTask.setTaskId(currTask.getId());
@@ -327,7 +246,6 @@ public class AsynRunTaskService extends BaseService {
runTaskServiceBiz.updateById(runTask);
//更新currTask表
currTask.setCacheSatatus(2);
currTask.setStatus(3);
currTask.setUpdateTime(LocalDateTime.now());
currTaskServiceBiz.updateById(currTask);
//更新in_stock_info表
@@ -351,37 +269,8 @@ public class AsynRunTaskService extends BaseService {
public void asynRunTaskForKilnToWarehouse(Long currTaskId,Long vehicleId) throws IOException {
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getOutStartPosition(), currTask.getOutTargetPosition(), rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,currTask.getPlcValue());
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}
}else {
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getOutStartPosition(), currTask.getOutTargetPosition(), rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,currTask.getPlcValue());
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}
}
//检查车辆是否冲突，冲突则避让
rgvStatus(vehicleId,currTask);
//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
RunTask runTask=new RunTask();
runTask.setTaskId(currTask.getId());
@@ -495,34 +384,46 @@ public class AsynRunTaskService extends BaseService {
public void asynRunOutStock(Long locationId,String yeyaTaiCode,Long vehicleId) throws IOException {
Location location = locationServiceBiz.getById(locationId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, 1L, 2,0);
if (status!=1){
logger.info("===执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
Long anotherVehicleId=2L;
Boolean rgv2Online = rgvOnline(anotherVehicleId);
if (rgv2Online){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, 1L, 2,0);
if (status!=1){
logger.info("===执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行成功===");
}else {
logger.info("RGV2不在线，跳过检测是否避让。");
}
}else {
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, 1L, 12,0);
if (status!=1){
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
Boolean rgv1Online = rgvOnline(1L);
if (rgv1Online){
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, 1L, 12,0);
if (status!=1){
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
// 2022/3/6 websocket通知页面
webSocketServer.sendtoAll(LocalDateTime.now()+"执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行成功===");
}else {
logger.info("RGV1不在线，跳过检测是否避让。");
}
}
RunTask runTask=new RunTask();
@@ -1097,4 +998,86 @@ public class AsynRunTaskService extends BaseService {
}
logger.info("任务号" + currTask.getTaskCode() + "生产单号：" + currTask.getSheetNo() + "生产单开始生产上报apms成功");
}
/**
* 车辆是否在线
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvOnline(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否在线失败");
}
Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return online;
}
/**
* 传入车辆ID,检查另一辆车是否在线，如果在线，检查是否位置冲突，冲突则避让。若另一辆车不在线，则不检查是否冲突。
* @param vehicleId
* @param currTask
* @throws IOException
*/
private void rgvStatus(Long vehicleId,CurrTask currTask) throws IOException {
Long currTaskId = currTask.getId();
if (vehicleId==1){
Long anotherVehicleId=2L;
Boolean rgv2Online = rgvOnline(anotherVehicleId);
if (rgv2Online){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,0);
if (status!=1){
logger.info("===执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行成功===");
}
}else {
logger.info("RGV2不在线，跳过检测是否避让。");
}
}else {
Long anotherVehicleId=1L;
Boolean rgv1Online = rgvOnline(anotherVehicleId);
if (rgv1Online){
//获取RGV1当前位置
Double rgv1CurrPosition = RGVCurrPosition(1);
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,0);
if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行失败");
return;
}
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行成功===");
}
}else {
logger.info("RGV1不在线，跳过检测是否避让。");
}
}
}
}

57
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java
View File

@@ -114,6 +114,7 @@ public class RunTaskUtils {
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition());
if (vehicleId==0){
logger.info("两辆车都不在线，请检查后重试！");
return R.failed("两辆车都不在线，请检查后重试！");
}
//占用车辆
@@ -407,5 +408,61 @@ public class RunTaskUtils {
}
return false;
}
/**
* 车辆是否在线
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvOnline(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否在线失败");
}
Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return online;
}
/**
* 车辆是否空闲
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvFree(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否空闲失败");
}
Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return free;
}
}

110
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/ScheduledTask.java
View File

@@ -142,6 +142,7 @@ public class ScheduledTask extends BaseService {
.eq(PlcNameSpace.TYPE, 0)
.eq(PlcNameSpace.EQ_ID, kilnId)).getName();
KilnInfo kilnInfo = kilnInfoServiceBiz.getById(kilnId);
nowCurrTask.setTaskCode(nowCurrTask.getSheetNo());
nowCurrTask.setKilnCode(kilnInfo.getCode());
//设定时间
Integer setupTime =1;
@@ -541,19 +542,35 @@ public class ScheduledTask extends BaseService {
//报警状态为true
if (resultBoolean){
//任务状态为执行中且正在炉子中加工的任务
CurrTask currTask = currTaskServiceBiz.getOne(new QueryWrapper<CurrTask>()
List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>()
.eq(CurrTask.KILN_ID, kilnInfo.getId())
.eq(CurrTask.IS_IN, 1)
.eq(CurrTask.STATUS, 1));
AlarmInfo alarmInfo=new AlarmInfo();
alarmInfo.setEquipmentId(currTask.getKilnId());
alarmInfo.setEquipmentName(currTask.getKilnName());
alarmInfo.setType(0);
alarmInfo.setAlarmCode(CodeGeneratorHelper.getAlarmCode());
alarmInfo.setAlarmInfo(plcNameSpace.getEqName()+"："+plcNameSpace.getNote());
alarmInfo.setTaskCode(currTask.getTaskCode());
alarmInfo.setCreateTime(LocalDateTime.now());
alarmInfoServiceBiz.save(alarmInfo);
if (currTaskList.size()!=0){
for (CurrTask currTask:currTaskList
) {
AlarmInfo alarmInfo=new AlarmInfo();
alarmInfo.setEquipmentId(currTask.getKilnId());
alarmInfo.setEquipmentName(currTask.getKilnName());
alarmInfo.setType(0);
alarmInfo.setAlarmCode(CodeGeneratorHelper.getAlarmCode());
alarmInfo.setAlarmInfo(plcNameSpace.getEqName()+"："+plcNameSpace.getNote());
alarmInfo.setTaskCode(currTask.getTaskCode());
alarmInfo.setCreateTime(LocalDateTime.now());
alarmInfoServiceBiz.save(alarmInfo);
}
}
else {
AlarmInfo alarmInfo=new AlarmInfo();
alarmInfo.setEquipmentId(kilnInfo.getId());
alarmInfo.setEquipmentName(kilnInfo.getKilnName());
alarmInfo.setType(0);
alarmInfo.setAlarmCode(CodeGeneratorHelper.getAlarmCode());
alarmInfo.setAlarmInfo(plcNameSpace.getEqName()+"："+plcNameSpace.getNote());
alarmInfo.setTaskCode("0");
alarmInfo.setCreateTime(LocalDateTime.now());
alarmInfoServiceBiz.save(alarmInfo);
}
}
} catch (IOException e) {
e.printStackTrace();
@@ -564,13 +581,22 @@ public class ScheduledTask extends BaseService {
logger.info("==结束查询炉子是否有报警==");
}
//监听车辆是否在线（暂时不用）
//监听车辆是否在线
@Scheduled(fixedDelay = 1000*60)
public void listenVehicleOnline() throws IOException {
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>()
.eq(VehicleInfo.STATUS, 0));
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS,1));
for (VehicleInfo vehicleInfo:vehicleInfoList
) {
Boolean rgvOnline = rgvOnline(vehicleInfo.getId());
Boolean rgvFree = rgvFree(vehicleInfo.getId());
if (!rgvOnline){
webSocketServer.sendtoUser("当前存在车辆不在线，请移动停用的车辆到轨道尽头处或者改车辆为线上模式，如果已经车辆停用，请忽略本提示消息。","1");
}
if (rgvOnline&&rgvFree){
vehicleInfo.setStatus(0);
vehicleInfoServiceBiz.updateById(vehicleInfo);
logger.info("检测到车辆："+vehicleInfo.getId()+" 显示状态为占用，实际状态为空闲。自动置车辆状态为空闲。");
}
}
}
/**
@@ -645,5 +671,61 @@ public class ScheduledTask extends BaseService {
return Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
}
/**
* 车辆是否在线
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvOnline(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否在线失败");
}
Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return online;
}
/**
* 车辆是否空闲
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvFree(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否空闲失败");
}
Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return free;
}
}

5
6.program/wms-empty/src/main/java/com/mt/wms/empty/vo/CurrTaskMainQueryVo.java
View File

@@ -78,6 +78,11 @@ public class CurrTaskMainQueryVo extends BaseVo implements PageVo.ConvertVo {
*/
@ApiModelProperty("库位")
private String locationName;
/**
* 库位
*/
@ApiModelProperty("库位id")
private Long locationId;
/**
* 窑炉名称
*/

5
6.program/wms-empty/src/main/java/com/mt/wms/empty/vo/NowCurrTaskDetVo.java
View File

@@ -31,6 +31,11 @@ public class NowCurrTaskDetVo extends BaseVo implements PageVo.ConvertVo{
*/
@ApiModelProperty(value = "currtask任务code",example = "0")
private String taskCode;
/**
* 生产单号
*/
@ApiModelProperty(value = "生产单号",example = "0")
private String sheetNo;
/**
* 炉子id