#

zjj

2024-01-17 238df92976dc2a092645852633040d5c885f25f2

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

@@ -2203,7 +2203,7 @@
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            basRgvMapOther.setStartRoute(lockEndRoute);
            basRgvMapOther.setEndRoute(lockEndRoute);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
@@ -2266,8 +2266,9 @@
                }

                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING)
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0){
@@ -2282,7 +2283,7 @@
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
@@ -2396,131 +2397,131 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastEmptyStaPut() {//放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
                    continue;
                }
//    public synchronized void rgvRunWrkMastEmptyStaPut() {//放
//        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                }
//                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
//                    continue;
//                }
//
//                // 只有当RGV空闲、自动,工位二有物//rgv可用
//                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && rgvProtocol.getLoaded1()==1  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
//                    for (WrkMastSta wrkMastSta : wrkMastStaList){
//                        if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板  2:放 4：拆盘
//                            continue;
//                        }
//                        boolean sign = false;
//                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
//                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
//                        }else {
//                            continue;
//                        }
//                        if (sign){
//                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
//                            if (signMap){
//                                wrkMastSta.setWrkSts(2);
//                                try{
//                                    wrkMastStaMapper.updateById(wrkMastSta);
//                                }catch (Exception e){
//                                    log.error("更新小车任务失败");
//                                }
//                                return;
//                            }else {
//                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
//                            }
//                        }else {
//                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
//        }catch (Exception e){
//            log.error("3933行执行小车放空板任务下发失败");
//            log.error("3933行"+e);
//        }
//    }

                // 只有当RGV空闲、自动,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==1  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板  2:放 4：拆盘
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }else {
                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
    }

    public synchronized void rgvRunWrkMastEmptyStaTake() {//取
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位二无物//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
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  1:取
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                        } else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }else {
                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
    }
//    public synchronized void rgvRunWrkMastEmptyStaTake() {//取
//        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                }
//                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
//                    continue;
//                }
//
//                // 只有当RGV空闲、自动,工位二无物//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
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
//                    for (WrkMastSta wrkMastSta : wrkMastStaList){
//                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  1:取
//                            continue;
//                        }
//                        boolean sign = false;
//                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
//                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
//                        } else {
//                            continue;
//                        }
//                        if (sign){
//                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
//                            if (signMap){
//                                wrkMastSta.setWrkSts(1);
//                                try{
//                                    wrkMastStaMapper.updateById(wrkMastSta);
//                                }catch (Exception e){
//                                    log.error("更新小车任务失败");
//                                }
//                                return;
//                            }else {
//                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
//                            }
//                        }else {
//                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
//        }catch (Exception e){
//            log.error("3989行执行小车取空板任务下发失败");
//            log.error("3989行"+e);
//        }
//    }

    /*
     * 有任务但未执行  此时需要调整小车位置
@@ -2619,102 +2620,102 @@
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            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
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }
//    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
//            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
//            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
//            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
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车放货至输送线任务
     * */
    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            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
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }
//    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
//            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
//            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
//            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
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车取空板至工位任务
     * */
    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  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(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, 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
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }
//    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  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(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
//            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
//            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
//            rgvCommand.setCommand((short) 2);   //工位2任务确认
//            if (!MessageQueue.offer(SlaveType.Crn, 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
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车放空板至输送线任务
     * */
    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  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(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, 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
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }
//    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  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(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
//            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
//            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
//            rgvCommand.setCommand((short) 2);   //工位2任务确认
//            if (!MessageQueue.offer(SlaveType.Crn, 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
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车复位