*

lsh

2025-06-06 20fa3d6b92c1d03365b8472b1a85bd34d03f9b88

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

@@ -263,6 +263,8 @@
    //获取小车取放任务列表失败
    public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
        List<Integer> sourceStaNoList = new ArrayList<>();

        for (List<Integer> siteList : siteListAll){
            List<List<WrkMast>> wrkMastLists = new ArrayList<>();
            try {
@@ -273,9 +275,19 @@
                    for (WrkMast wrkMast : wrkMastList) {
                        if (!Cools.isEmpty(wrkMast)) {
                            if (siteList.contains(wrkMast.getSourceStaNo())){
                                if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){
                                    List<WrkMast> wrkMastListS = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                                    if (wrkMastListS.isEmpty()){
                                        continue;
                                    }
                                } else {
                                    continue;
                                }
                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    wrkMastlistA.add(wrkMast);
                                } else {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    wrkMastlistB.add(wrkMast);
                                }
                            }
@@ -453,15 +465,13 @@
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {

        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        int wrkMastRunCount = 0;
        long devperimeter = 0L;
        for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
            int wrkMastRunCount = 0;
            int wrkMastCount = 0;
            long rgvId = 0;
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
                    wrkMastCount++;
                }
            }
            runRgv:
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
@@ -493,34 +503,29 @@
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            } else {
                                if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            }


                            if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
                                double finalVelocity = 0.0;     // 最终速度 (m/s)
@@ -539,6 +544,11 @@
                                }
                            }

                            if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
                                rgvNoR.add(rgvProtocol.getRgvNo());
                            } else {
                                continue ;
                            }

                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
@@ -563,7 +573,6 @@
                            wrkMast.setCrnStrTime(now);
                            try {
                                wrkMastService.updateById(wrkMast);
                                wrkMastCount--;
                                break;
                            } catch (Exception e) {
                                log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
@@ -574,6 +583,34 @@
                }
            }
        }
        try{
            for (Integer rgvNo : rgvNoM){
                if (wrkMastRunCount==0){
                    break;
                }
                if (rgvNoR.contains(rgvNo)){
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                wrkMastRunCount--;
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvProtocol.getAlarm() == 0) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,devperimeter))) {
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令");
                        break;
                    }
                }
            }
        } catch (Exception e){

        }
    }

    //任务完成