*

lsh

2024-10-23 1a40db40864f0662f6ab3bf1597faa249cffca68

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

@@ -9,6 +9,7 @@
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -46,6 +47,77 @@
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePositionNearby() {
        try{
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
            if (wrkMasts.isEmpty()){
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
            if (basDevpPositions.isEmpty()){
                log.error("获取所有站点信息异常");
                return;
            }
            List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
            List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
            Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
            if (siteNo == null){
                log.error("就近密集原则获取站点失败");
                return;
            }
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions){
                if (basDevpPosition.getDevNo().equals(siteNo)){
                    sitePosition = basDevpPosition.getPlcPosition();
                }
            }
            List<List<Long>> rgvPositionList = new ArrayList<>();
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                List<Long> rgvPosition = new ArrayList<>();
                rgvPosition.add(rgvProtocol.getRgvNo().longValue());
                rgvPosition.add(rgvProtocol.getRgvPos());
                rgvPositionList.add(rgvPosition);
            }
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition);

            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)){
                return;
            }

            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
            }
            String[] oldList = new String[ints.length];
            for (int[] rgv : ints){
                oldList[rgv[0]-1] = Arrays.toString(rgv);
            }
            int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
            String[] newList = new String[rgvList.length];
            for (int[] rgv : rgvList){
                newList[rgv[0]-1] = Arrays.toString(rgv);
            }

            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));
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                basCircularShuttle.setRgvId(rgv[1]);
                basCircularShuttleService.updateById(basCircularShuttle);
            }

        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常："+e);
        }
    }
    /**
     * 站点任务检测  更新小车位置信息
     */
@@ -98,6 +170,15 @@
     */
    public synchronized void DevpTaskNoRun() {
        try{
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",false));
            if (wrkMasts.isEmpty()){
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInSeconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds<=5){
                return;
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -146,6 +227,8 @@
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists){
            for (WrkMast wrkMast: wrkMastList){
                log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

                rgvId++;
                BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
@@ -158,6 +241,7 @@
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                    rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                    rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
@@ -167,6 +251,8 @@
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        break runRgv;
                    }
                    log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                    wrkMast.setWrkSts(2L);
                    wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                    wrkMast.setAppeTime(new Date());
@@ -198,7 +284,9 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO