小车异常

pjb

3 天以前 a1bd5fc40223cee3445fc62b7555afee7bbcdab5

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

@@ -365,9 +365,11 @@
                return;
            }

            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));

            LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
            for (int i = 1; i <= 5; i++) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -378,12 +380,9 @@
            runRgv:
            for (WrkMast wrkMast : wrkMasts) {
                Integer rgvSstaNo = wrkMast.getRgvSstaNo();
                // 1090，1089,1086,1083 按1083站点位置计算，能取1083，就能取1090，1089，1086，避免任务延迟下发方案一直给1083发
                if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086 || rgvSstaNo == 1105) {
                    rgvSstaNo = 1083;
                }
                BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 站点
                long position = basDevpPositions.getPlcPosition(); // 起始站位置
                position += 50; // 小车取货定位精度 +- 50,站点位置10000，小车在10050也是可以取的
                TreeMap<Long, RgvProtocol> map = new TreeMap<>();
                for (RgvProtocol rgvProtocol : rgvProtocolList) {
                    long distance;
@@ -394,19 +393,19 @@
                    }
                    map.put(distance, rgvProtocol);
                }
//                log.info("取货站点：{}，后面小车排序", basDevpPositions.getDevNo());
//                StringBuilder sb = new StringBuilder();
//                for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
//                    RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
//                    sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
//                }
//                log.info(sb.toString());
                position -= 50;
                log.info("取货站点：{}，后面小车排序", basDevpPositions.getDevNo());
                StringBuilder sb = new StringBuilder();
                for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
                    RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
                    sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
                }
                log.info(sb.toString());

                for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
                    RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 最近距离小车
//                    log.info("取货站点：{}，后面最近小车：{},状态:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
                    int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
                    if(wrkMast.getIoType() == 10 || wrkMast.getIoType() == 110 || wrkMast.getSourceStaNo() == 1034) {
                        if (rgvProtocol.modeType == RgvModeType.AUTO
                                && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                && rgvProtocol.getTaskNo1() == 0
@@ -441,48 +440,23 @@
                                // 当前rgv任务目标站点
                                BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
                                long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置
                                if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置
                                    if(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                // 获取RGV当前位置和状态
                                long currentRgvPos = rgvProtocol.getRgvPos();
                                int rgvStatus = rgvProtocol.getStatusType().id;

                                // 定义浮动范围（仅停靠状态适用）
                                long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
                                if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 小车当前位置 < rgv目标位置
                                    if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                        break; // 当前rgv放货完成后，可以取当前任务
                                    }
                                } else {
                                    if(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition) {
                                    if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
                                        break;
                                    }
                                }
                            }
                        }
                    } else {
                        if (count != 0) {
                            break;
                        }
                        if (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.setTaskNo1(wrkMast.getWrkNo().shortValue());
                            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                            rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue());   //工位1起点
                            rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                                break runRgv;
                            }
                            log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                            Date now = new Date();
                            wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                            wrkMast.setWrkSts(10L);
                            wrkMast.setRgvCreateTime(now);
                            wrkMastService.updateById(wrkMast);
                            break runRgv;
                        } else {
                            break ; // 只看最近的第一个小车
                        }
                    }
                }
            }
        } catch (Exception e) {
@@ -525,6 +499,9 @@
                        break;
                    }
                    wrkMast.setWrkSts(2L);
                    if (wrkMast.getIoType()==120){
                        wrkMast.setWrkSts(53L);
                    }
                    Date now = new Date();
                    wrkMast.setRgvFinishTime(now);
                    wrkMastService.updateById(wrkMast);
@@ -550,15 +527,16 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {
                    log.info("{}号小车小车取货越位，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue())
                    .eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast)) {
                        log.error("未查到小车执行任务！" + rgvProtocol.getTaskNo1());
                        log.error(rgvProtocol.getRgvNo() + "小车取货越位未查到小车执行任务！" + rgvProtocol.getTaskNo1());
                        continue;
                    } else if(wrkMast.getWrkSts() != 10) {
                        log.warn("执行任务状态不符合！" + rgvProtocol.getTaskNo1());
                        log.warn(rgvProtocol.getRgvNo() + "小车取货越位执行任务状态不符合！" + rgvProtocol.getTaskNo1());
                        continue;
                    }
                    log.info("{}号小车小车取货越位，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车取货越位,任务取消,复位失败，小车号{}！", rgvProtocol.getRgvNo());