#

lsh

2024-04-15 6ea30a9291bfcf21fda724f9957405bbe3fecbd5

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

@@ -1291,7 +1291,7 @@
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
                flag = true;
            }
            if (!flag) {
@@ -3318,7 +3318,7 @@
                    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 +3451,13 @@
                        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;
                            }
@@ -3588,20 +3593,20 @@
                    switch (sign){
                        //执行小车货物搬运任务
                        case 1:
                            signWork = rgvRunWrkMastFullSta();
                            signWork = rgvRunWrkMastFullSta(rgvSlave);
                            break;
                        //执行小车空板搬运任务
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                            break;
                        case 6:////提升
//                            signWork = qwe();
@@ -3612,19 +3617,19 @@
                    for (int signCount = 1;!signWork && signCount<7;signCount++){
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta();
                                signWork = rgvRunWrkMastFullSta(rgvSlave);
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut();
                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull();
                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake();
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                                break;
                            case 5:////满取
                                signWork = rgvRunWrkMastEmptyStaTakeFull();
                                signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                                break;
                            case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
@@ -3633,6 +3638,8 @@
                                break;
                        }
                    }
                }else {
                    continue;
                }
                if (!rgvIoExecuteSign){
                    rgvIoExecuteSign = signWork;
@@ -3651,18 +3658,18 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
@@ -3676,7 +3683,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
@@ -3686,9 +3693,22 @@
                            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;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                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());
@@ -3709,7 +3729,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
@@ -3719,18 +3739,18 @@
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
@@ -3744,7 +3764,7 @@
                    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;
                        return false;
                    }
                    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
@@ -3756,9 +3776,22 @@
                        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()>117 && basDevp.getDevNo()<124){
                                if (basDevp.getLoadingSuper().equals("Y")){
                                    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;
@@ -3782,7 +3815,7 @@
                        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);
@@ -3793,18 +3826,18 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二有物//rgv可用
@@ -3818,7 +3851,7 @@
                    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;
                        return false;
                    }
                    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
@@ -3830,9 +3863,22 @@
                        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()>117 && basDevp.getDevNo()<124){
                                if (basDevp.getLoadingSuper().equals("Y")){
                                    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;
@@ -3856,7 +3902,7 @@
                        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);
@@ -3864,18 +3910,18 @@
        return false;
    }

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

                // 只有当RGV空闲、自动,工位二无物//rgv可用
@@ -3889,7 +3935,7 @@
                    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;
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
@@ -3904,6 +3950,14 @@
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                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;
@@ -3927,7 +3981,7 @@
                        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);
@@ -3935,18 +3989,18 @@
        return false;
    }

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

                // 只有当RGV空闲、自动,工位二无物//rgv可用
@@ -3960,11 +4014,18 @@
                    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;
                        return false;
                    }
                    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);
                    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;
@@ -3975,6 +4036,9 @@
                            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;
@@ -3998,7 +4062,7 @@
                        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);
@@ -4011,10 +4075,17 @@
    * */
    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;
            }
            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();
@@ -4038,15 +4109,53 @@
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
//                    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) )){
                        signRgv1 = false;
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv2 = false;
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }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;
                    }

                    // 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
                    ) {
                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                            continue;
                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                            continue;
                        }
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    }
                }
            }
        }catch (Exception e){
@@ -4348,6 +4457,7 @@
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            basRgvMapMapper.updateById(basRgvMapCurrent);