rgv功能完善

pjb

2025-06-28 a609def9badafcb8e8ffa97e8d54962271b1e108

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

@@ -32,9 +32,7 @@
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
@@ -358,6 +356,122 @@
        }
    }

    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(int[] autoZ) {
        try {
@@ -394,7 +508,47 @@
                    }
                    wrkMast.setWrkSts(2L);
                    Date now = new Date();
                    wrkMast.setModiTime(now);
                    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);
                }
            }
@@ -413,7 +567,7 @@
                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) {