package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.BasCircularShuttleService;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.task.core.ReturnT;
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import com.zy.asrs.task.escalationParam.RgvTaskReportingParam;
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import com.zy.asrs.utils.PostMesDataUtils;
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import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
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import com.zy.asrs.utils.TimeCalculatorUtils;
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import com.zy.common.CodeRes;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.RgvThread;
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import com.zy.system.entity.license.LicenseVerify;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by IX on 2024/10/01
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasRgvServiceImpl basRgvService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@Autowired
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private BasCircularShuttleService basCircularShuttleService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private CommonService commonService;
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@Value("${constant-parameters.perimeter}")
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private Long perimeter;
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@Value("${constant-parameters.proportion}")
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private Long proportion;
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@Value("${constant-parameters.acceleration}")
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private Long acceleration;
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@Value("${constant-parameters.rgvCount}")
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private Long rgvCount;
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@Value("${constant-parameters.rgvDate}")
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private Double rgvDate;
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/*
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* 验证许可证是否有效
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* */
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public synchronized boolean licenseVerify() {
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try{
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// if (true) {
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// return true;
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// }
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return new LicenseVerify().verify();
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} catch (Exception e){
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log.info("许可证验证失败！！异常：{}",e.getMessage());
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}
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return false;
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}
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/**
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* 站点任务检测 更新小车位置信息
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*/
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public synchronized void updateStePositionNearby() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
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if (wrkMasts.isEmpty()) {
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return;
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}
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
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if (basDevpPositions.isEmpty()) {
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log.error("获取所有站点信息异常");
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return;
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}
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List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
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List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
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Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
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if (siteNo == null) {
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log.error("就近密集原则获取站点失败");
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return;
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}
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Long sitePosition = 0L;
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for (BasDevpPosition basDevpPosition : basDevpPositions) {
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if (basDevpPosition.getDevNo().equals(siteNo)) {
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sitePosition = basDevpPosition.getPlcPosition();
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}
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}
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List<List<Long>> rgvPositionList = new ArrayList<>();
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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List<Long> rgvPosition = new ArrayList<>();
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rgvPosition.add(rgvProtocol.getRgvNo().longValue());
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rgvPosition.add(rgvProtocol.getRgvPos());
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rgvPositionList.add(rgvPosition);
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}
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Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
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if (rgvNo == -1) {
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log.info("更新小车排序信息异常={}", rgvNo);
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return;
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}
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
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if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
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return;
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}
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int[][] ints = new int[basCircularShuttleList.size()][2];
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
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}
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// String[] oldList = new String[ints.length];
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// for (int[] rgv : ints){
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// oldList[rgv[0]-1] = Arrays.toString(rgv);
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// }
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int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
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// String[] newList = new String[rgvList.length];
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// for (int[] rgv : rgvList){
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// newList[rgv[0]-1] = Arrays.toString(rgv);
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// }
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// log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
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basCircularShuttle.setRgvId(rgv[1]);
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basCircularShuttleService.updateById(basCircularShuttle);
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}
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} catch (Exception e) {
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log.error("自动更新小车排序信息失败，异常：" + e);
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}
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}
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/**
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* 站点任务检测 更新小车位置信息
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*/
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public synchronized void updateStePosition() {
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try {
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boolean sign = false;
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Integer rgvNo = 0;
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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if (basCircularShuttle.getStatus() != 0){
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sign = true;
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continue;
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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sign = true;
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} else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
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sign = true;
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} else {
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rgvNo = basCircularShuttle.getRgvNo();
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break;
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}
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}
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if (sign && rgvNo != 0) {
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int[][] ints = new int[basCircularShuttleList.size()][2];
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
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}
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// String[] oldList = new String[ints.length];
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// for (int[] rgv : ints){
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// oldList[rgv[0]-1] = Arrays.toString(rgv);
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// }
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int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
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// String[] newList = new String[rgvList.length];
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// for (int[] rgv : rgvList){
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// newList[rgv[0]-1] = Arrays.toString(rgv);
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// }
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// log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
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basCircularShuttle.setRgvId(rgv[1]);
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basCircularShuttleService.updateById(basCircularShuttle);
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}
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}
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} catch (Exception e) {
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log.error("自动更新小车排序信息失败，异常：" + e);
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}
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}
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/**
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* 站点任务检测 下发小车取放任务
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*/
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public synchronized void DevpTaskNoRun() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
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if (wrkMasts.isEmpty()) {
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return;
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}
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long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
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if (differenceInSeconds <= 100) {
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return;
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}
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BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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return;
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}
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
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Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
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BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
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BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
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List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
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//下发任务
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taskDown(wrkMastLists);
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} catch (Exception e) {
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log.error("自动下发小车取放任务失败，异常：" + e);
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}
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}
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//获取小车取放任务列表失败
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public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
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List<List<WrkMast>> wrkMastLists = new ArrayList<>();
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try {
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List<WrkMast> wrkMastlistA = new ArrayList<>();
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List<WrkMast> wrkMastlistB = new ArrayList<>();
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for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
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List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
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for (WrkMast wrkMast : wrkMastList) {
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if (!Cools.isEmpty(wrkMast)) {
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if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
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wrkMastlistA.add(wrkMast);
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} else {
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wrkMastlistB.add(wrkMast);
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}
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}
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}
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}
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wrkMastLists.add(wrkMastlistA);
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wrkMastLists.add(wrkMastlistB);
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return wrkMastLists;
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} catch (Exception e) {
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log.error("获取小车取放任务列表失败，异常：" + e);
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return wrkMastLists;
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}
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}
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public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
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long rgvId = 0;
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runRgv:
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for (List<WrkMast> wrkMastList : wrkMastLists) {
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for (WrkMast wrkMast : wrkMastList) {
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while (rgvId <= rgvCount) {
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rgvId++;
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// log.info("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));
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if (rgvId > rgvCount) {
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break runRgv;
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}
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BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
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if (basCircularShuttle.getStatus() != 0){
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continue ;
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
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if (!wrkMasts.isEmpty()) {
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continue;
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}
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if (rgvProtocol != null
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&& rgvProtocol.modeType == RgvModeType.AUTO
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&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
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&& rgvProtocol.getTaskNo1() == 0
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&& rgvProtocol.getAlarm() == 0) {
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if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
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double finalVelocity = 0.0; // 最终速度 (m/s)
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double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
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if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
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// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
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// if (basDevpPositions.isEmpty()) {
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// log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！");
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// break runRgv;
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// }
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// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
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//
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// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
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continue;
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// }
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}
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}
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
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rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
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rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
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rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
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rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //工位1起点
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rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //工位1目标站点
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rgvCommand.setCommand((short) 1); //工位1任务确认
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if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
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//
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log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
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break runRgv;
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}
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log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
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wrkMast.setWrkSts(2L);
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wrkMast.setRgvNo(rgvProtocol.getRgvNo());
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wrkMast.setAppeTime(new Date());
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try {
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wrkMastService.updateById(wrkMast);
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break;
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} catch (Exception e) {
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log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
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}
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break runRgv;
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} else {
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break runRgv;
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}
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}
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}
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}
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}
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//任务完成
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public synchronized void rgvCompleteWrkMastSta() {
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try {
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
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if (basRgv == null) {
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log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
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continue;
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}
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if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
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log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
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}
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// 只有当RGV等待WCS确认、自动
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if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1() != 0
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) {
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// log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
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if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
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log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
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continue;
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}
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boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
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if (!rgvComplete) {
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log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
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break;
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}
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wrkMast.setWrkSts(3L);
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Date now = new Date();
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wrkMast.setAppeTime(now);
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try{
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try{
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if (true){
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RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
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ReturnT<String> result = new PostMesDataUtils().postMesDataWcs("", "", rgvTaskReportingParam);
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if (result.getCode()==200){
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wrkMast.setWrkSts(4L);
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wrkMast.setAppeTime(now);
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wrkMastService.updateById(wrkMast);
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continue;
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}else {
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log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败");
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}
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} else {
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//测试用
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wrkMast.setWrkSts(5L);
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wrkMast.setAppeTime(now);
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wrkMastService.updateById(wrkMast);
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WrkMast wrkMast1 = new WrkMast();
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int workNo = commonService.getWorkNo(0);
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wrkMast1.setWrkNo((long) workNo);
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wrkMast1.setSourceStaNo(wrkMast.getStaNo());
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wrkMast1.setStaNo(wrkMast.getSourceStaNo());
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wrkMast1.setWrkSts(1L);
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wrkMast1.setIoType(1);
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wrkMast1.setModiTime(now);
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wrkMast1.setAppeTime(now);
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wrkMast1.setMemo("测试数据");
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wrkMastService.insert(wrkMast1);
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continue;
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}
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} catch (Exception e){
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log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败，异常信息："+e);
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}
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} catch (Exception e){}
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wrkMastService.updateById(wrkMast);
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}
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}
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} catch (Exception e) {
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log.error("小车复位线程报错！" + e);
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}
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}
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/*
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* 小车复位
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* */
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public synchronized boolean rgvComplete(Integer rgvNo) {
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try {
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// 命令下发区 --------------------------------------------------------------------------
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if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
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log.error("RGV命令下发失败，RGV号={}", rgvNo);
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return false;
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} else {
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log.info("RGV命令下发成功，RGV号={}", rgvNo);
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return true;
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}
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} catch (Exception e) {
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log.error("RGV命令下发失败，RGV号={}。异常：" + e, rgvNo);
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return false;
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}
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}
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}
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