*

lsh

2025-01-13 7aa5444a36007fc463ef8a4a08ed1bed5bc3bfd3

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

@@ -57,9 +57,31 @@
    private Long acceleration;
    @Value("${constant-parameters.rgvCount}")
    private Long rgvCount;
    @Value("${constant-parameters.rgvDate}")
    private Double rgvDate;
    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePositionNearby1() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            try{
                double finalVelocity = 0.0;     // 最终速度 (m/s)
                double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed/60, 2)) / (2 * acceleration);
                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", 111));
                if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*0.1))){
//                        continue ;
                }
            } catch (Exception e){

            }
        }
    }

    public synchronized void updateStePositionNearby() {
        try{
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
@@ -255,12 +277,6 @@
                    if (rgvProtocol == null){
                        continue ;
                    }
                    double finalVelocity = 0.0;     // 最终速度 (m/s)
                    double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed/60, 2)) / (2 * acceleration);
                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                    if (distance*proportion > SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter)){
                        continue ;
                    }

                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
                    if (!wrkMasts.isEmpty()){
@@ -271,6 +287,14 @@
                            && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                            && rgvProtocol.getTaskNo1()==0
                            && rgvProtocol.getAlarm() == 0){
                        if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
                            double finalVelocity = 0.0;     // 最终速度 (m/s)
                            double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed/60, 2)) / (2 * acceleration);
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*rgvDate))){
                                continue ;
                            }
                        }
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位