*

lsh

2025-01-13 7aa5444a36007fc463ef8a4a08ed1bed5bc3bfd3

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

@@ -9,6 +9,7 @@
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -20,6 +21,7 @@
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

@@ -46,6 +48,111 @@
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;

    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
    @Value("${constant-parameters.proportion}")
    private Long proportion;
    @Value("${constant-parameters.acceleration}")
    private Long acceleration;
    @Value("${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));
            if (wrkMasts.isEmpty()){
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",true));
            if (basDevpPositions.isEmpty()){
                log.error("获取所有站点信息异常");
                return;
            }
            List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
            List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
            Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
            if (siteNo == null){
                log.error("就近密集原则获取站点失败");
                return;
            }
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions){
                if (basDevpPosition.getDevNo().equals(siteNo)){
                    sitePosition = basDevpPosition.getPlcPosition();
                }
            }
            List<List<Long>> rgvPositionList = new ArrayList<>();
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                List<Long> rgvPosition = new ArrayList<>();
                rgvPosition.add(rgvProtocol.getRgvNo().longValue());
                rgvPosition.add(rgvProtocol.getRgvPos());
                rgvPositionList.add(rgvPosition);
            }
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition,perimeter);
            if (rgvNo == -1){
                log.info("更新小车排序信息异常={}",rgvNo);
                return;
            }
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)){
                return;
            }

            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
            }
            String[] oldList = new String[ints.length];
            for (int[] rgv : ints){
                oldList[rgv[0]-1] = Arrays.toString(rgv);
            }
            int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
            String[] newList = new String[rgvList.length];
            for (int[] rgv : rgvList){
                newList[rgv[0]-1] = Arrays.toString(rgv);
            }

            log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                basCircularShuttle.setRgvId(rgv[1]);
                basCircularShuttleService.updateById(basCircularShuttle);
            }

        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常："+e);
        }
    }
    /**
     * 站点任务检测  更新小车位置信息
     */
@@ -98,14 +205,23 @@
     */
    public synchronized void DevpTaskNoRun() {
        try{
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",true));
            if (wrkMasts.isEmpty()){
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds<=100){
                return;
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos());
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",true));
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(),perimeter);
            BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
@@ -123,12 +239,14 @@
            List<WrkMast> wrkMastlistA = new ArrayList<>();
            List<WrkMast> wrkMastlistB = new ArrayList<>();
            for (BasDevpPosition basDevpPosition : basDevpPositionsListUN){
                WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts",1L));
                if (!Cools.isEmpty(wrkMast)){
                    if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
                        wrkMastlistA.add(wrkMast);
                    } else {
                        wrkMastlistB.add(wrkMast);
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time",true));
                for (WrkMast wrkMast:wrkMastList){
                    if (!Cools.isEmpty(wrkMast)){
                        if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
                            wrkMastlistA.add(wrkMast);
                        } else {
                            wrkMastlistB.add(wrkMast);
                        }
                    }
                }
            }
@@ -146,39 +264,65 @@
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists){
            for (WrkMast wrkMast: wrkMastList){
                rgvId++;
                BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getAlarm() == 0){
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                    rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                    rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                        //
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                while (rgvId <= rgvCount){
                    rgvId++;
                    log.info("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

                    if (rgvId > rgvCount){
                        break runRgv;
                    }
                    wrkMast.setWrkSts(2L);
                    wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                    wrkMast.setAppeTime(new Date());
                    try{
                        wrkMastService.updateById(wrkMast);
                    BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null){
                        continue ;
                    }catch (Exception e){
                        log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
                    }
                    break runRgv;
                } else {
                    break runRgv;

                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
                    if (!wrkMasts.isEmpty()){
                        continue ;
                    }
                    if (rgvProtocol != null
                            && rgvProtocol.modeType == RgvModeType.AUTO
                            && (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
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                        rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                        rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                            //
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                            break runRgv;
                        }
                        log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                        wrkMast.setWrkSts(2L);
                        wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                        wrkMast.setAppeTime(new Date());
                        try{
                            wrkMastService.updateById(wrkMast);
                            break;
                        }catch (Exception e){
                            log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
                        }
                        break runRgv;
                    } else {
                        break runRgv;
                    }
                }
            }
        }
@@ -198,7 +342,9 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
@@ -232,7 +378,6 @@
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new 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={}",rgvId);
                return false;
            } else {