From 2cf9b53834bf61455fffd322b0201b3d0080577a Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期六, 10 五月 2025 17:06:49 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/task/TaskLogScheduler.java | 8 +-
src/main/java/com/zy/core/thread/RgvThread.java | 10 ++-
src/main/java/com/zy/asrs/controller/RgvController.java | 23 +++++++
src/main/java/com/zy/asrs/entity/TaskWrk.java | 13 ++++
src/main/java/com/zy/asrs/controller/OpenController.java | 2
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 6 +-
src/main/resources/application-prod.yml | 8 +-
src/main/java/com/zy/core/model/protocol/RgvProtocol.java | 4
pom.xml | 12 ++--
src/main/resources/application.yml | 8 +-
src/main/webapp/views/deviceOperate/rgvOperate.html | 1
src/main/java/com/zy/asrs/entity/param/CarryParam.java | 31 ++++++++++
12 files changed, 99 insertions(+), 27 deletions(-)
diff --git a/pom.xml b/pom.xml
index 2b6fe46..bf09a9c 100644
--- a/pom.xml
+++ b/pom.xml
@@ -61,12 +61,12 @@
<!-- </dependency>-->
<!-- 鏄惧紡鎺掗櫎slf4j-simple -->
- <dependency>
- <groupId>org.slf4j</groupId>
- <artifactId>slf4j-simple</artifactId>
- <version>1.7.30</version>
- <scope>provided</scope> <!-- 鎴栫洿鎺ュ垹闄よ渚濊禆 -->
- </dependency>
+<!-- <dependency>-->
+<!-- <groupId>org.slf4j</groupId>-->
+<!-- <artifactId>slf4j-simple</artifactId>-->
+<!-- <version>1.7.30</version>-->
+<!-- <scope>provided</scope> <!– 鎴栫洿鎺ュ垹闄よ渚濊禆 –>-->
+<!-- </dependency>-->
<dependency>
<groupId>com.dameng</groupId>
<artifactId>DmJdbcDriver8</artifactId>
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 16769ba..55a8a63 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -343,7 +343,7 @@
// List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
for (CarryParam param:params){
param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴� ====杞崲涓�====> 1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴�
-
+ param.updateLocNo();
if (Cools.isEmpty(param)){
return R.error("鍙傛暟涓虹┖锛�");
} else if (Cools.isEmpty(param.getTaskNo())){
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index e85e4de..83e6cd1 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -75,6 +75,29 @@
return R.ok().add(res);
}
+ @PostMapping("/run/del")//Take Put Walk
+ @ManagerAuth(memo = "灏忚溅琛岃蛋")
+ public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo
+ ) {
+ if (rgvNo==null || rgvNo==0){
+ return R.error("璇烽�夋嫨灏忚溅");
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ try {
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ }
+
+ } catch (Exception e) {
+ return R.error("浠诲姟鍒犻櫎澶辫触"+e.getMessage());
+ }
+
+ return R.ok("浠诲姟娓呯┖鎴愬姛");
+ }
+
@PostMapping("/run/walk")//Take Put Walk
@ManagerAuth(memo = "灏忚溅琛岃蛋")
public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
diff --git a/src/main/java/com/zy/asrs/entity/TaskWrk.java b/src/main/java/com/zy/asrs/entity/TaskWrk.java
index 181892b..34c077c 100644
--- a/src/main/java/com/zy/asrs/entity/TaskWrk.java
+++ b/src/main/java/com/zy/asrs/entity/TaskWrk.java
@@ -376,4 +376,17 @@
}
}
+ public String getPut(String point){
+ String[] split = point.split("-");
+ if (split.length == 5){
+// String locNo = String.format("%02d", ) +
+// String.format("%03d", split[3]) +
+// String.format("%02d", split[4]);
+
+ return split[2]+"0"+split[3]+split[4];
+ } else {
+ return point;
+ }
+ }
+
}
diff --git a/src/main/java/com/zy/asrs/entity/param/CarryParam.java b/src/main/java/com/zy/asrs/entity/param/CarryParam.java
index 9685b01..4766197 100644
--- a/src/main/java/com/zy/asrs/entity/param/CarryParam.java
+++ b/src/main/java/com/zy/asrs/entity/param/CarryParam.java
@@ -25,6 +25,10 @@
//澶囨敞
private String meno;
+ public void updateLocNo(){
+ startPoint = getPut(startPoint);
+ targetPoint = getPut(targetPoint);
+ }
public void updateIoTyoe(Integer ioTypeOld){
switch (ioTypeOld){
case 1:
@@ -41,4 +45,31 @@
}
}
+ public String getPut(String point){
+ String[] split = point.split("-");
+ if (split.length == 5){
+// String locNo = String.format("%02d", ) +
+// String.format("%03d", split[3]) +
+// String.format("%02d", split[4]);
+
+ return split[2]+"0"+split[3]+split[4];
+ } else {
+ return point;
+ }
+ }
+
+ public static String zerofill(String msg, Integer count){
+ if (msg.length() == count){
+ return msg;
+ } else if (msg.length() > count){
+ return msg.substring(0, 16);
+ } else {
+ StringBuilder msgBuilder = new StringBuilder(msg);
+ for (int i = 0; i<count-msg.length(); i++){
+ msgBuilder.insert(0,"0");
+ }
+ return msgBuilder.toString();
+ }
+ }
+
}
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 7918153..ed4d6fb 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1455,7 +1455,7 @@
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
@@ -1488,7 +1488,7 @@
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
@@ -1522,7 +1522,7 @@
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
diff --git a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
index aa32429..c9c05e4 100644
--- a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
+++ b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
@@ -62,9 +62,11 @@
HashMap<String, Object> map = new HashMap<>();
try {
map.put("taskNo",taskWrk.getTaskNo());
- map.put("status",taskWrk.getStatus());
- map.put("ioType",taskWrk.getIoType());
- map.put("barcode",taskWrk.getBarcode());
+ map.put("taskStatus",taskWrk.getStatus());
+ map.put("ioType",taskWrk.getIoTypeWms());
+ map.put("barCode",taskWrk.getBarcode());
+ map.put("reportTime",new Date());
+ map.put("weight",taskWrk.getScWeight().doubleValue());
response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath(taskStatusFeedbackPath)
diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index 821ec56..43d9bfb 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -85,12 +85,12 @@
/**
* 杞﹁韩
*/
- public Long carBodyJiaoMing = 0L;
+ public Long carBodyJiaoMing = 2000L;
/**
* 杞﹁韩
*/
- public Long carBodyKunPeng = 0L;
+ public Long carBodyKunPeng = 15000L;
/**
* 鏄惁鍚敤
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 38b1d23..1e6df7b 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,11 +48,11 @@
// private RgvProtocol rgvProtocol;
private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
// # 杞ㄩ亾鎬婚暱
- private Long trackEntireLength = 100L;
+ private Long trackEntireLength = 215000L;
//# 杞ㄩ亾鍩哄噯鐐�
- private Long trackBenchmark = 100L;
+ private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 100L;
+ private Long avoidDistance = 4000L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -520,8 +520,10 @@
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
}
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+ rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml
index 198453c..0e0b5a0 100644
--- a/src/main/resources/application-prod.yml
+++ b/src/main/resources/application-prod.yml
@@ -83,8 +83,8 @@
rack: 0
slot: 0
otherId: 2
- carBodyJiaoMing: 4100
- carBodyKunPeng: 4100
+ carBodyJiaoMing: 2000
+ carBodyKunPeng: 15000
#RGV婧愮珯鐐�
rgvInSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
@@ -159,8 +159,8 @@
rack: 0
slot: 0
otherId: 1
- carBodyJiaoMing: 4100
- carBodyKunPeng: 4100
+ carBodyJiaoMing: 2000
+ carBodyKunPeng: 15000
#RGV婧愮珯鐐�
rgvInSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 66e6afd..546cab4 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -49,13 +49,13 @@
constant-parameters:
# 杞ㄩ亾鎬婚暱
- trackEntireLength: 190000
+ trackEntireLength: 215000
# 杞ㄩ亾鍩哄噯鐐�
trackBenchmark: 1
# 杞ㄩ亾杞崲涓虹背姣斾緥
trackProportion: 10000
# 閬胯璺濈
- avoidDistance: 4100
+ avoidDistance: 5100
wms:
# 鏄惁寮�鍚笂鎶�
@@ -65,13 +65,13 @@
#url: 10.32.53.195:8080
# WMS绯荤粺ip
# url: 10.210.157.109:8090
- url: 10.210.157.26:9027
+ url: 10.10.10.205:9027
# 鍏ュ簱浠诲姟鐢宠鎺ュ彛
#inboundTaskApplyPath: api/InterFace/inboundTaskApply
inboundTaskApplyPath: sugood/inboundTaskApply
# inboundTaskApplyPath: open/asrs/inboundTaskApply
# 浠诲姟鐘舵�佸弽棣堟帴鍙�
- taskStatusFeedbackPath: external/wcs/wmsHeartBeat
+ taskStatusFeedbackPath: external/wcs/taskStatusFeedback
# 璐т綅鐘舵�佹洿鏂版帴鍙�
locationUpdatePath: api/InterFace/get_InterFace_TestStorage
# 绉诲簱鐢宠鎺ュ彛
diff --git a/src/main/webapp/views/deviceOperate/rgvOperate.html b/src/main/webapp/views/deviceOperate/rgvOperate.html
index 5fefa32..4621705 100644
--- a/src/main/webapp/views/deviceOperate/rgvOperate.html
+++ b/src/main/webapp/views/deviceOperate/rgvOperate.html
@@ -55,6 +55,7 @@
<el-button @click="requestOperate('take')" type="primary">鍙栬揣</el-button>
<el-button @click="requestOperate('put')" type="primary">鏀捐揣</el-button>
<el-button @click="requestOperate('walk')" type="warning">琛岃蛋</el-button>
+ <el-button @click="requestOperate('del')" type="warning">浠诲姟娓呯┖</el-button>
</div>
</div>
</el-card>
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