*

lsh

2 天以前 98ba81630f3192aaa4b7fbb67596c3154d05d7d3

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

@@ -58,6 +58,8 @@
    @Autowired
    private CommonService commonService;

    @Value("${constant-parameters.taskRunPerimeter}")
    private Long taskRunPerimeter;
    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
    @Value("${constant-parameters.proportion}")
@@ -107,13 +109,14 @@
                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;
            }
//            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;
//            }
            Integer siteNo = 110;
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getDevNo().equals(siteNo)) {
@@ -242,15 +245,52 @@
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", 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);
            List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
//            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
            List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll,basDevpPositionsListUN);
            //下发任务
            taskDown(wrkMastLists);
//            taskDown(wrkMastLists);
            taskDown(wrkMastListAll);
        } catch (Exception e) {
            log.error("自动下发小车取放任务失败，异常：" + e);
        }
    }

    //获取小车取放任务列表失败
    public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
        for (List<Integer> siteList : siteListAll){
            List<List<WrkMast>> wrkMastLists = new ArrayList<>();
            try {
                List<WrkMast> wrkMastlistA = new ArrayList<>();
                List<WrkMast> wrkMastlistB = new ArrayList<>();
                for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
                    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 (siteList.contains(wrkMast.getSourceStaNo())){
                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    wrkMastlistA.add(wrkMast);
                                } else {
                                    wrkMastlistB.add(wrkMast);
                                }
                            }
                        }
                    }
                }
                wrkMastLists.add(wrkMastlistA);
                wrkMastLists.add(wrkMastlistB);
//                return wrkMastLists;
                wrkMastListAll.add(wrkMastLists);
            } catch (Exception e) {
                log.error("获取小车取放任务列表失败，异常：" + e);
            }
        }
        return wrkMastListAll;
    }

    //获取小车取放任务列表失败
@@ -280,41 +320,212 @@
        }
    }

    public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
        long rgvId = 0;
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists) {
            for (WrkMast wrkMast : wrkMastList) {
                while (rgvId <= rgvCount) {
                    rgvId++;
//    public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
//        long rgvId = 0;
//        runRgv:
//        for (List<WrkMast> wrkMastList : wrkMastLists) {
//            for (WrkMast wrkMast : wrkMastList) {
//                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;
//                    }
//                    BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
//                    if (basCircularShuttle.getStatus() != 0){
//                        continue ;
//                    }
//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                    if (rgvProtocol == null) {
//                        continue;
//                    }
//
//                    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 + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
////                                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,RGV任务下发失败，请联系管理员！！！");
////                                    break runRgv;
////                                }
////                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
////
////                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
//                                    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
//                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
//                        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());
//                        Date now = new Date();
//                        wrkMast.setAppeTime(now);
//                        wrkMast.setCrnStrTime(now);
//                        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 if (rgvProtocol != null
//                            && rgvProtocol.modeType == RgvModeType.AUTO
//                            && rgvProtocol.getStatusType() == RgvStatusType.WALK
//                            && rgvProtocol.getTaskNo1() == 0
//                            && rgvProtocol.getAlarm() == 0) {
//                        if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
//                            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 + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
////                                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,RGV任务下发失败，请联系管理员！！！");
////                                    break runRgv;
////                                }
////                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
////
////                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
//                                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.X_MOVE); // 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
//                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
//                        if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(3, 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());
//                        Date now = new Date();
//                        wrkMast.setAppeTime(now);
//                        wrkMast.setCrnStrTime(now);
//                        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;
//                    }
//                }
//            }
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {
        for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
            int wrkMastRunCount = 0;
            int wrkMastCount = 0;
            long rgvId = 0;
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
                    wrkMastCount++;
                }
            }
            runRgv:
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
                    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;
                    }
                    BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
                    if (basCircularShuttle.getStatus() != 0){
                        continue ;
                    }
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null) {
                        continue;
                    }
                        if (rgvId > rgvCount) {
                            break runRgv;
                        }
                        BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
                        if (basCircularShuttle.getStatus() != 0){
                            continue ;
                        }
                        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                        RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                        if (rgvProtocol == null) {
                            continue;
                        }

                    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);
                        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) {
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
                            if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                        }
                                    }
                                    break runRgv;
                                }
                            } else {
                                if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                        }
                                    }
                                    break runRgv;
                                }
                            }


                            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);
                                if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
//                                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,RGV任务下发失败，请联系管理员！！！");
@@ -325,88 +536,40 @@
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                    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
                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
                        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));


                            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
                            rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
                            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());
                            Date now = new Date();
                            wrkMast.setAppeTime(now);
                            wrkMast.setCrnStrTime(now);
                            try {
                                wrkMastService.updateById(wrkMast);
                                wrkMastCount--;
                                break;
                            } catch (Exception e) {
                                log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
                            }
                            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());
                        Date now = new Date();
                        wrkMast.setAppeTime(now);
                        wrkMast.setCrnStrTime(now);
                        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 if (rgvProtocol != null
                            && rgvProtocol.modeType == RgvModeType.AUTO
                            && rgvProtocol.getStatusType() == RgvStatusType.WALK
                            && rgvProtocol.getTaskNo1() == 0
                            && rgvProtocol.getAlarm() == 0) {
                        if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
                            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 + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
//                                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,RGV任务下发失败，请联系管理员！！！");
//                                    break runRgv;
//                                }
//                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                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.X_MOVE); // 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
                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
                        if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(3, 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());
                        Date now = new Date();
                        wrkMast.setAppeTime(now);
                        wrkMast.setCrnStrTime(now);
                        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;
                    }
                }
            }