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1

2025-05-14 7c75c8b98bb06517bacd809e01ad29ab77b2f2dc

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 src/main/java/com/zy/asrs/controller/RgvController.java

@@ -285,4 +285,22 @@

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/delRgvTask")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }

        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            rgvThread.setDelRgvTask();
        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }
}

 src/main/java/com/zy/asrs/controller/TaskWrkController.java

@@ -8,10 +8,11 @@
import com.core.common.DateUtils;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.StaDesc;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.asrs.entity.param.CarryParam;
import com.zy.asrs.entity.param.TaskCreateParam;
import com.zy.asrs.service.*;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
@@ -38,6 +39,12 @@

    @Autowired
    private LocMastService locMastService;

    @Autowired
    private OpenService openService;

    @Autowired
    private StaDescService staDescService;

    @Value("${wms.taskStatusFeedbackPath}")
    private String taskStatusFeedbackPath;
@@ -147,6 +154,84 @@
        return R.ok();
    }

    @RequestMapping(value = "/taskWrk/addTask/auth")
    @ManagerAuth
    public R addTaskPoint(CarryParam param){
        try{
            param.updateIoTyoe(param.getIoType());//中航下发  1：出库，2：移库 3：入库   ====转换为====>  1：入库，2：出库，3：移库
            param.updateLocNo();
            if (Cools.isEmpty(param)){
                return R.error("参数为空！");
            } else if (Cools.isEmpty(param.getTaskNo())){
                return R.error("任务号为空！");
            } else if (Cools.isEmpty(param.getIoType())){
                return R.error("任务类型为空！");
            }
            if (Cools.isEmpty(param.getStartPoint()) || Cools.isEmpty(param.getTargetPoint())){
                return R.error("初始目标或者目标位为空");
            }


            String locNo=null;
            if(param.getIoType()==1){
                locNo=param.getTargetPoint();
            }else{
                locNo=param.getStartPoint();
            }
            LocMast locMast = locMastService.selectByLocNo(locNo);
            if(Cools.isEmpty(locMast)){
                return R.error("初始库位无法找到");
            }

            R r = null;

            if(param.getIoType() == 1){
                //入库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",1)
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getStartPoint()));
                if(Cools.isEmpty(staDesc)){
                    return R.error("入库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));

            }else if(param.getIoType() == 2){
                //出库任务创建
                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                        .eq("type_no",2)
                        .eq("crn_no",locMast.getCrnNo())
                        .eq("stn_no",param.getTargetPoint()));
                if(Cools.isEmpty(staDesc)){
                    return R.error("出库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getStnNo()));
            }else if (param.getIoType() == 3){
                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                if(Cools.isEmpty(locMast2)){
                    return R.error("目标库位无法找到");
                }
                if (!locMast2.getCrnNo().equals(locMast.getCrnNo())){
                    return R.error("起始库位与目标库位不再同一巷道");
                }
                //移库任务创建
                r = openService.taskCreate(new TaskCreateParam(param,locMast.getCrnNo()));
            }

            apiLogService.save("wcs手动生成Wms任务"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,null
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,r.toString()
                    ,true
            );
        } catch (Exception e){

        }
        return R.ok();
    }

    @RequestMapping(value = "/taskWrk/delete/auth")
    @ManagerAuth
    public R delete(@RequestParam String taskNo){

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -66,6 +66,7 @@
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;
    private boolean delRgvTask = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -142,6 +143,11 @@
    private void taskComplete() {
        while (true) {
            try {
                if (delRgvTask){
                    writeDelRgvTask();
                    delRgvTask = false;
                    continue;
                }
                Thread.sleep(100);
                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
@@ -201,7 +207,6 @@
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -286,6 +291,21 @@
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        if (taskProtocol.getTaskStatus()==3){
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                            if (staProtocol == null ) {
                                continue;
                            }
                            // 判断是否满足入库条件
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                    || staProtocol.getWorkNo() != 0
                            ){
                                Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
//                                continue;
                            }
                        }
                        //双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
@@ -295,7 +315,6 @@
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            Thread.sleep(100);
                            if (taskProtocol.getTaskStatus()==3){
                                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
@@ -306,7 +325,8 @@
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
                                    Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
                                    continue;
                                }
                            }
@@ -315,7 +335,6 @@
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            break;
@@ -741,6 +760,53 @@
        }
    }

    private boolean writeDelRgvTask() throws InterruptedException {
//
        OperateResult result = siemensNet.Write("DB100.12.0", false);
        OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);
        OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);
        OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);
        OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    0,
                    0,
                    slave.getId(),
                    new Date(),
                    String.valueOf(0),
                    null,
                    null,
                    null,
                    result.IsSuccess ? 1 : 0,
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }


    public void setDelRgvTask() {
        delRgvTask = true;
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();

 src/main/webapp/views/commandManage/commandManage.html

@@ -178,6 +178,9 @@
                }
                this.getTableData()
            },
            addTask() {
                this.addTaskFormVisible = true
            },
            exportTable() {
                this.tableSearchParam = {
                    task_no: null,

 src/main/webapp/views/deviceOperate/rgvOperate.html

@@ -57,6 +57,7 @@
                            <el-button @click="requestOperate('TakeAndPut')" type="primary">取放货</el-button>
                            <el-button @click="requestOperate('walk')" type="warning">行走</el-button>
                            <el-button @click="requestOperate('del')" type="warning">任务清空</el-button>
                            <el-button @click="requestOperate('delRgvTask')" type="warning">小车强制复位（有任务或者运行时不要操作）</el-button>
                        </div>
                    </div>
                </el-card>

 src/main/webapp/views/taskWrk/taskWrk.html

@@ -44,6 +44,7 @@
                <el-form-item>
                    <el-button type="primary" @click="getTableData">查询</el-button>
                    <el-button type="primary" @click="resetParam">重置</el-button>
                    <el-button type="primary" @click="addTask">手动添加任务</el-button>
                </el-form-item>
            </el-form>
            <el-table ref="singleTable" :data="tableData" style="width: 100%;">
@@ -113,6 +114,36 @@
        </div>
    </el-dialog>

    <el-dialog :title="addTaskFormTitle" :visible.sync="addTaskFormVisible">
        <el-form :model="addTaskForm">
            <el-form-item label="任务号" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.taskNo" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="任务类型=》1：出库、2：移库、3：入库" :label-width="200">
                <el-input v-model="addTaskForm.ioType" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="优先级" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.taskPriority" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="容器编码" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.barcode" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="起点位置" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.startPoint" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="终点位置" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.targetPoint" autocomplete="off"></el-input>
            </el-form-item>
            <el-form-item label="备注" :label-width="addTaskFormLabelWidth">
                <el-input v-model="addTaskForm.memo" autocomplete="off"></el-input>
            </el-form-item>
        </el-form>
        <div slot="footer" class="dialog-footer">
            <el-button @click="addTaskFormVisible = false">取 消</el-button>
            <el-button type="primary" @click="addTaskFormConfirm">确 定</el-button>
        </div>
    </el-dialog>

</div>
<script>
    var $layui = layui.config({
@@ -135,9 +166,21 @@
                datetime: null,
            },
            taskWrkFormVisible: false,
            addTaskFormVisible: false,
            taskWrkForm: {},
            addTaskForm: {
                taskNo:"9001",
                ioType:"0",
                taskPriority:1,
                barcode:"10000001",
                startPoint:"1000",
                targetPoint:"F-F01-01-01-01",
                memo:"cs"
            },
            taskWrkFormLabelWidth: '80px',
            taskWrkFormTitle: ''
            addTaskFormLabelWidth: '80px',
            taskWrkFormTitle: '',
            addTaskFormTitle: '手动添加任务'
        },
        created() {
            this.init()
@@ -205,6 +248,9 @@
                    wrk_no: null
                }
                this.getTableData()
            },
            addTask() {
                this.addTaskFormVisible = true
            },
            handleCommand(command, row) {
                switch (command) {
@@ -440,6 +486,35 @@
                        }
                    }
                });
            },
            addTaskFormConfirm() {
                //修改指定任务数据
                let that = this
                $.ajax({
                    url: baseUrl + "/taskWrk/addTask/auth",
                    headers: {
                        'token': localStorage.getItem('token')
                    },
                    data: this.addTaskForm,
                    method: 'POST',
                    success: function (res) {
                        if (res.code == 200) {
                            that.addTaskFormVisible = false
                            that.$message({
                                message: "更新成功",
                                type: 'success'
                            });
                            that.getTableData()
                        } else if (res.code === 403) {
                            top.location.href = baseUrl + "/";
                        } else {
                            that.$message({
                                message: res.msg,
                                type: 'error'
                            });
                        }
                    }
                });
            }
        }
    })