#

LSH

2024-04-03 55165693f541b63e059af1def45fb2f24c5ed31e

 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")
@@ -3318,7 +3319,7 @@
                    wrkMast.setSheetNo("5");
                    wrkMastMapper.updateById(wrkMast);

                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));

                }
            }
@@ -3451,8 +3452,13 @@
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (staProtocol == null) {
                                continue;
                            } else {
                                staProtocol = staProtocol.clone();
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
@@ -3633,6 +3639,8 @@
                                break;
                        }
                    }
                }else {
                    continue;
                }
                if (!rgvIoExecuteSign){
                    rgvIoExecuteSign = signWork;
@@ -3679,19 +3687,43 @@
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    if (rgvProtocol.getRgvNo()==1){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                            continue;
                        }
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                        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;
                            }
                        }
                        Date date = new Date();
                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==1);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -3748,6 +3780,10 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    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){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
@@ -3756,15 +3792,23 @@
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"拆盘任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
@@ -3822,6 +3866,10 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放  7:提升
@@ -3830,15 +3878,23 @@
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//满放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满放任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
@@ -3892,6 +3948,10 @@
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    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){
@@ -3904,12 +3964,31 @@
                            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")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"叠盘任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -3964,7 +4043,18 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
                    if (!Cools.isEmpty(wrkMast)){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
                        if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
                            wrkMastStaList.add(wrkMastSta);
                        }
                    }
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
@@ -3975,12 +4065,15 @@
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            Date date = new Date();
                            log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满取任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -4011,10 +4104,18 @@
    * */
    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;
            boolean signRgv1 = true;
            boolean signRgv2 = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4036,17 +4137,48 @@
                        && 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(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
                        if (rgvProtocol.getRgvNo()==1){
                            signRgv1 = false;
                        }else {
                            signRgv2 = false;
                        }
                    }
                    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 &&  (signRgv1 || signRgv2)){
                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());
                    }
                }
            }
        }catch (Exception e){
@@ -4093,10 +4225,10 @@
    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        if (rgvId==1){
    public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
        if (rgvId==2){
            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
@@ -4104,7 +4236,7 @@
                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
@@ -4119,14 +4251,14 @@
            }
        }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
@@ -4342,6 +4474,13 @@
    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,boolean sign){
        if (sign){
            staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staStart);
            staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staEnd);
        }
        return rgvMapUpdate(basRgvMapCurrent,staStart,staEnd);
    }
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
@@ -4358,6 +4497,7 @@
            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.setEndRoute(lockEndRoute);
            basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther,lockEndRoute));
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){