rgv功能完善

pjb

2025-06-28 a609def9badafcb8e8ffa97e8d54962271b1e108

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

@@ -1,25 +1,24 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.task.escalationParam.RgvTaskReportingParam;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.common.CodeRes;
import com.zy.common.utils.HttpHandler;
import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
@@ -54,6 +53,8 @@
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;

    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
@@ -65,12 +66,23 @@
    private Long rgvCount;
    @Value("${constant-parameters.rgvDate}")
    private Double rgvDate;
    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.reportOutPath}")
    private String wmsOutPath;
    @Value("${wms.reportSwitch}")
    private boolean reportSwitch;
    @Value("${wms.reportSwitchAuto}")
    private boolean reportSwitchAuto;

    /*
    * 验证许可证是否有效
    * */
    public synchronized boolean licenseVerify() {
        try{
//            if (true) {
//                return true;
//            }
            return new LicenseVerify().verify();
        } catch (Exception e){
            log.info("许可证验证失败！！异常：{}",e.getMessage());
@@ -84,7 +96,7 @@
     */
    public synchronized void updateStePositionNearby() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 9L).eq("rgv_no",0));
            if (wrkMasts.isEmpty()) {
                return;
            }
@@ -123,7 +135,7 @@
                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));
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return;
            }
@@ -163,6 +175,10 @@
            Integer rgvNo = 0;
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle.getStatus() != 0){
                    sign = true;
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
@@ -207,7 +223,7 @@
     */
    public synchronized void DevpTaskNoRun() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts",9).orderBy("modi_time", true));
            if (wrkMasts.isEmpty()) {
                return;
            }
@@ -241,7 +257,7 @@
            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));
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_ssta_no", basDevpPosition.getDevNo()).eq("rgv_no", 0).orderBy("modi_time", true));
                for (WrkMast wrkMast : wrkMastList) {
                    if (!Cools.isEmpty(wrkMast)) {
                        if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
@@ -273,26 +289,28 @@
                        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));
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts",10));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }
                    if (rgvProtocol != null
                            && rgvProtocol.modeType == RgvModeType.AUTO
                    if (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) )) {
//                        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！！！");
@@ -301,17 +319,17 @@
//                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                    continue;
//                                    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.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))) {
                            //
@@ -320,8 +338,8 @@
                        }
                        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.setWrkSts(10L);
                        wrkMast.setAppeTime(new Date());
                        try {
                            wrkMastService.updateById(wrkMast);
@@ -338,8 +356,124 @@
        }
    }

    public synchronized void rgvTheHandlingTaskIsIssued() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts", 9)
                    .orderBy("io_pri", false)
                    .orderBy("modi_time", true));
            if (wrkMasts.isEmpty()) {
                return;
            }

            LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
            for (int i = 1; i <= 5; i++) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                rgvProtocolList.add(rgvProtocol);
            }

            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 = 1083;
                }
                BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 站点
                long position = basDevpPositions.getPlcPosition(); // 起始站位置
                TreeMap<Long, RgvProtocol> map = new TreeMap<>();
                for (RgvProtocol rgvProtocol : rgvProtocolList) {
                    long distance;
                    if (rgvProtocol.getRgvPos() <= position) {
                        distance = position - rgvProtocol.getRgvPos();
                    } else {
                        distance = position + (perimeter - rgvProtocol.getRgvPos());
                    }
                    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());

                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 (count != 0) {
                            continue;
                        }
                        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 {
                        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) {
            log.error("自动下发小车取放任务失败，异常：" + e);
        }
    }

    //任务完成
    public synchronized void rgvCompleteWrkMastSta() {
    public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
        try {
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -352,44 +486,69 @@
                    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
                        && rgvProtocol.getTaskNo1() != 0
                ) {
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                    if (Cools.isEmpty(wrkMast)) {
                        log.error("未查到小车执行任务！" + rgvProtocol.getTaskNo1());
                        continue;
                    } else if(wrkMast.getWrkSts() != 10) {
                        log.error("执行任务状态不符合！" + rgvProtocol.getTaskNo1());
                        continue;
                    }
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                            log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                    wrkMast.setWrkSts(3L);
                    wrkMast.setWrkSts(2L);
                    Date now = new Date();
                    wrkMast.setAppeTime(now);
                    try{
                        try{
                            RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
                            ReturnT<String> result = new PostMesDataUtils().postMesDataWcs("", "", rgvTaskReportingParam);
                            if (result.getCode()==200){
                                wrkMast.setWrkSts(4L);
                                wrkMast.setAppeTime(now);
                                wrkMastService.updateById(wrkMast);
                                continue;
                            }else {
                                log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败");
                            }
                        } catch (Exception e){
                            log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败，异常信息："+e);
                        }
                    } catch (Exception e){}
                    wrkMast.setRgvFinishTime(now);
                    wrkMastService.updateById(wrkMast);
                }
            }
        } catch (Exception e) {
            log.error("小车复位线程报错！" + e);
        }
    }

    // 小车取货越位,任务取消
    public synchronized void rgvTaskCancel() {
        try {
            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等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.PICK_UP_OFFSIDE
                        && 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()));
                    if (Cools.isEmpty(wrkMast)) {
                        log.error("未查到小车执行任务！" + rgvProtocol.getTaskNo1());
                        continue;
                    } else if(wrkMast.getWrkSts() != 10) {
                        log.error("执行任务状态不符合！" + rgvProtocol.getTaskNo1());
                        continue;
                    }
                    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());
                        break;
                    }
                    wrkMast.setWrkSts(9L);
                    wrkMast.setRgvNo(0);
                    wrkMast.setRgvCreateTime(new Date());
                    wrkMastService.updateById(wrkMast);
                }
            }
@@ -405,10 +564,10 @@
        try {
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
                log.error("RGV命令下发失败，RGV号={}", rgvNo);
                log.error("小车复位RGV命令下发失败，RGV号={}", rgvNo);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}", rgvNo);
                log.info("小车复位RGV命令下发成功，RGV号={}", rgvNo);
                return true;
            }
        } catch (Exception e) {