#

1

2025-05-09 a09baeeeeeea5c36159952482a895eb79c5740f4

#

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

@@ -400,7 +400,7 @@
                if(Cools.isEmpty(staDesc)){
                    return R.error("出库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));
                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)){

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

New file
@@ -0,0 +1,188 @@
package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.TaskProtocolCache;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.TaskProtocol;
import com.zy.core.thread.RgvThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

/**
 * 输送设备接口
 * Created by vincent on 2020-06-01
 */
@RestController
@RequestMapping("/rgv")
public class RgvController {

    @Autowired
    private BasDevpPositionService basDevpPositionService;

    @GetMapping("/status/all")
    @ManagerAuth(memo = "全部信息")
    public R allStatus(){
        List<Map<String, Object>> res = new ArrayList<>();
        ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
        for (RgvProtocol rgvProtocol : allRgvStatus.values()){
            Map<String, Object> map2 = new HashMap<>();
            map2.put("rgvNo", rgvProtocol.getRgvNo());
            map2.put("taskNo", rgvProtocol.getTaskNo());
            map2.put("mode", rgvProtocol.getModeType().desc);
            map2.put("status", rgvProtocol.getStatusType().desc);
            map2.put("rgvPos", rgvProtocol.getRgvPos());
            map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
            map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
            res.add(map2);
        }
        return R.ok().add(res);
    }

    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam Integer rgvNo,
                            @RequestParam Integer taskNo,
                            @RequestParam Integer rgvStaNo,
                            @RequestParam Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
            return R.error("目标站点请填写");
        }
        if (rgvPosDestination == null || rgvPosDestination == 0){
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            rgvPosDestination = basDevpPosition.getPlcPosition();
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issued = new TaskProtocol();

        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            //执行
            issued.setTaskNo(Long.valueOf(taskNo));
            issued.setTaskStatus(1);
            issued.setTaskNoDirection(issued.gettaskNoDirection$(issued.getTaskNo(), issued.getTaskStatus()));
            issued.setTargetPosition(rgvPosDestination);
            issued.setIsRunning(1);
            issued.setDirection(true);

            taskProtocolCache.updateTaskProtocol(issued);

        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/put")//Take  Put  Walk
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
            return R.error("目标站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issuedPut = new TaskProtocol();

        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
            issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
            issuedPut.setIsRunning(1);
            issuedPut.setDirection(basDevpPosition.getRgvSign()==1);

            taskProtocolCache.updateTaskProtocol(issuedPut);
        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/take")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam Integer rgvNo,
                        @RequestParam Integer taskNo,
                        @RequestParam Integer rgvStaNo,
                        @RequestParam Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
            return R.error("目标站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issuedTake = new TaskProtocol();
        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
            issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
            issuedTake.setIsRunning(1);
            issuedTake.setDirection(basDevpPosition.getRgvSign()==1);

            taskProtocolCache.updateTaskProtocol(issuedTake);
        } 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/entity/BasDevpPosition.java

@@ -34,6 +34,10 @@
    @TableField("PLC_POSITION")
    private Long plcPosition;

    @ApiModelProperty(value= "")
    @TableField("RGV_SIGN")
    private Integer rgvSign;

    public BasDevpPosition() {}

    public BasDevpPosition(Integer devNo, Integer plcId, Long plcPosition) {

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -1612,10 +1612,6 @@
                if (targetPointConvert == null) {
                    return false;
                }
                RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
                if (rgvStnEnd == null) {
                    return false;
                }

                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -1625,7 +1621,7 @@
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                issuedTake.setIsRunning(1);
                issuedTake.setDirection(rgvStn.isDirection());
                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
@@ -1633,7 +1629,7 @@
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                issuedPut.setIsRunning(1);
                issuedPut.setDirection(rgvStnEnd.isDirection());
                issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
            } catch (Exception e) {
                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
                return false;

 src/main/java/com/zy/core/model/protocol/RgvProtocol.java

@@ -43,7 +43,7 @@
    /**
     * 有物
     */
    public Short loaded;//0 无物；1 有物
    public Short loaded = -1;//0 无物；1 有物

    /**
     * RGV当前位置

 src/main/java/com/zy/core/model/protocol/TaskProtocol.java

@@ -47,10 +47,10 @@
    public String gettaskNoDirection$(Long taskNo,int taskStatus){
        String taskStatusStr = "Walk";
        switch (taskStatus){
            case 1:
            case 2:
                taskStatusStr = "Tack";
                break;
            case 2:
            case 3:
                taskStatusStr = "Put";
                break;
        }

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

@@ -81,6 +81,7 @@

            // 启动漫游线程
            new Thread(this::taskWalkIssued).start();
            new Thread(this::taskWalkIssued2).start();

            // 启动任务完成线程
            new Thread(this::taskComplete).start();
@@ -127,6 +128,64 @@
    }

    /**
     * 任务下发
     */
    private void taskWalkIssued2() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()) {
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null || rgvTaskProtocol == null) {
                    initRgv();
                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    continue;
                }
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                    continue;
                }
                if (rgvProtocol.getLoaded() == -1){
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                        // 双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                continue;
                            }
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        }
                    }
                }
            } catch (Exception e) {
                log.error("RGV取货任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    /**
     * 漫游
     */
    private void taskWalkIssued() {
@@ -149,6 +208,8 @@
                TaskProtocol issued = new TaskProtocol();
                issued.setTaskNo(32222L);
                issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
                issued.setTaskStatus(1);
                issued.setDirection(true);
                write(issued);
                rgvTaskProtocol.setAvoid(0);

@@ -186,11 +247,14 @@
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                    continue;
                }
                if (rgvProtocol.getLoaded() == -1){
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        //双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
@@ -203,16 +267,12 @@
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
//                            taskProtocol.setIsRunning(4);
//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
//                            taskProtocol.setIsRunning(4);
//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            break;
                        }
                    }

 src/main/resources/mapper/BasDevpPositionMapper.xml

@@ -8,6 +8,7 @@
        <result column="DEV_NO" property="devNo" />
        <result column="PLC_ID" property="plcId" />
        <result column="PLC_POSITION" property="plcPosition" />
        <result column="RGV_SIGN" property="rgvSign" />

    </resultMap>


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

@@ -16,13 +16,19 @@
        <div style="width: 100%;">
            <el-table ref="singleTable" :data="tableData" highlight-current-row @row-click="handleRowClick"
                max-height="450" style="width: 100%">
                <el-table-column property="devNo" label="小车号">
                <el-table-column property="rgvNo" label="小车号">
                </el-table-column>
                <el-table-column property="workNo" label="工作号">
                <el-table-column property="taskNo" label="工作号">
                </el-table-column>
                <el-table-column property="locType1" label="高低库位">
                <el-table-column property="mode" label="作业模式">
                </el-table-column>
                <el-table-column property="pakMk" label="入库标记">
                <el-table-column property="status" label="状态">
                </el-table-column>
                <el-table-column property="rgvPos" label="当前定位值">
                </el-table-column>
                <el-table-column property="rgvPosDestination" label="目标定位置">
                </el-table-column>
                <el-table-column property="loaded" label="有物">
                </el-table-column>
            </el-table>
        </div>
@@ -36,27 +42,19 @@
                    <div>
                        <el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
                            <el-form-item label="工作号">
                                <el-input v-model="formParam.workNo" placeholder="工作号"></el-input>
                                <el-input v-model="formParam.taskNo" placeholder="工作号"></el-input>
                            </el-form-item>
                            <el-form-item label="目标站">
                                <el-input v-model="formParam.staNo" placeholder="目标站"></el-input>
                            <el-form-item label="目标定位置">
                                <el-input v-model="formParam.rgvPosDestination" placeholder="目标定位置"></el-input>
                            </el-form-item>
                            <el-form-item label="入库标记">
                                <el-input v-model="formParam.pakMk" placeholder="入库标记"></el-input>
                            </el-form-item>
                        </el-form>
                        <el-form label-position="top" :inline="true" class="demo-form-inline">
                            <el-form-item label="">
                                <el-checkbox v-model="formParam.inEnable">可入</el-checkbox>
                            </el-form-item>
                            <el-form-item label="">
                                <el-checkbox v-model="formParam.outEnable">可出</el-checkbox>
                            <el-form-item label="目标站点">
                                <el-input v-model="formParam.rgvStaNo" placeholder="目标站点"></el-input>
                            </el-form-item>
                        </el-form>
                        <div>
                            <el-button @click="requestOperate('update')" type="primary">更新</el-button>
                            <el-button @click="requestOperate('out')" type="warning">取货完成</el-button>
                            <el-button @click="requestOperate('in')" type="warning">放货完成</el-button>
                            <el-button @click="requestOperate('take')" type="primary">取货</el-button>
                            <el-button @click="requestOperate('put')" type="primary">放货</el-button>
                            <el-button @click="requestOperate('walk')" type="warning">行走</el-button>
                        </div>
                    </div>
                </el-card>
@@ -109,12 +107,10 @@
                currentTitle: "未选择设备",
                currentIndex: null,
                formParam: {
                    devNo: null,
                    workNo: null,
                    staNo: null,
                    pakMk: null,
                    inEnable: false,
                    outEnable: false
                    rgvNo: 0,
                    taskNo: 0,
                    rgvStaNo: 0,
                    rgvPosDestination: 0
                }
            },
            created() {
@@ -135,19 +131,17 @@
                    const index = this.tableData.indexOf(row)
                    this.currentRow = row;
                    this.currentIndex = index
                    this.currentTitle = row.devNo + "站点"
                    this.currentTitle = row.rgvNo + "小车"
                    
                    this.formParam.devNo = row.devNo
                    this.formParam.workNo = row.workNo
                    this.formParam.staNo = row.staNo
                    this.formParam.pakMk = row.pakMk
                    this.formParam.inEnable = row.inEnable == "Y" ? true : false
                    this.formParam.outEnable = row.outEnable == "Y" ? true : false
                    this.formParam.rgvNo = row.rgvNo
                    this.formParam.taskNo = row.taskNo
                    this.formParam.rgvStaNo = row.rgvStaNo
                    this.formParam.rgvPosDestination = row.rgvPosDestination
                },
                getTableData() {
                    let that = this;
                    $.ajax({
                        url: baseUrl + "/site/list/auth",
                        url: baseUrl + "/rgv/status/all",
                        headers: {
                            'token': localStorage.getItem('token')
                        },
@@ -168,7 +162,7 @@
                        type: 'warning'
                    }).then(()=>{
                        $.ajax({
                            url: baseUrl + "/site/detl/"+method,
                            url: baseUrl + "/rgv/run/"+method,
                            headers: {
                                'token': localStorage.getItem('token')
                            },