#

LSH

2024-04-03 1725fe3afb54e76d490e3efb4f14931960618eae

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

@@ -2318,6 +2318,7 @@
                        param.setIoType(10);
                        param.setSourceStaNo(122);
                        param.setLocType1((short)1);
                        param.setRgvNo(rgvProtocol.getRgvNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/empty/loc/v1")
@@ -3696,6 +3697,18 @@
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
                            add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
                        }};
                        List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
                            add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
                        }};
                        if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
                            continue;
                        }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
                            continue;
                        }

                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
@@ -3935,8 +3948,19 @@
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
                                add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
                            }};
                            List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
                                add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
                            }};
                            if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
                                continue;
                            }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (basDevp.getEmptyMk().equals("Y")){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
@@ -4060,10 +4084,16 @@
    * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
//            if (integer==0){
//                return;
//            }
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
            if (Cools.isEmpty(wrkMastSta)){
                return;
            }
            Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
            boolean signRgv = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4085,17 +4115,45 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
                        signRgv = false;
                        break;
                    }
                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                        continue;
                        signRgv = false;
                        break;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv = false;
                        break;
                    }
                }else {
                    signRgv = false;
                    break;
                }
            }
            if (signRgv){
                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null) {
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    // 只有当RGV空闲、自动,工位一无物//rgv可用
                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                            && rgvProtocol.getModeType() == RgvModeType.AUTO
                            && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                            && rgvProtocol.getTaskNo1()==0
                            && rgvProtocol.getTaskNo2()==0
                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    ) {
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                        break;
                    }
                }
            }
        }catch (Exception e){
@@ -4142,10 +4200,10 @@
    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
    public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
//                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -4153,7 +4211,7 @@
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)101);
                rgvCommand.setSourceStaNo1(rgvRunSta[0].shortValue());
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
@@ -4168,14 +4226,14 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
//                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)117);
                rgvCommand.setSourceStaNo2(rgvRunSta[1].shortValue());
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号