*

lsh

2025-06-06 b40ae90237b1ce741dae89aed09047d0dfbffcf1

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

@@ -234,7 +234,7 @@
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds <= 100) {
            if (differenceInSeconds <= 1000) {
                return;
            }

@@ -263,20 +263,44 @@
    //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<>();
        List<Integer> sourceStaNoList = new ArrayList<>();

        for (List<Integer> siteList : siteListAll){
            List<List<WrkMast>> wrkMastLists = new ArrayList<>();
            try {
                List<WrkMast> wrkMastlistA = new ArrayList<>();
                List<WrkMast> wrkMastlistB = new ArrayList<>();
                List<WrkMast> wrkMastlistC = new ArrayList<>();
                List<WrkMast> wrkMastlistD = 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);
                                if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){
                                    List<WrkMast> wrkMastListS = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                                    if (wrkMastListS.isEmpty()){
                                        continue;
                                    }
                                } else {
                                    wrkMastlistB.add(wrkMast);
                                    continue;
                                }
                                long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMast.getModiTime(), new Date());

                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistA.add(wrkMast);
                                    } else {
                                        wrkMastlistC.add(wrkMast);
                                    }
                                } else {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistB.add(wrkMast);
                                    } else {
                                        wrkMastlistD.add(wrkMast);
                                    }
                                }
                            }
                        }
@@ -284,6 +308,8 @@
                }
                wrkMastLists.add(wrkMastlistA);
                wrkMastLists.add(wrkMastlistB);
                wrkMastLists.add(wrkMastlistC);
                wrkMastLists.add(wrkMastlistD);
//                return wrkMastLists;
                wrkMastListAll.add(wrkMastLists);
            } catch (Exception e) {
@@ -453,15 +479,13 @@
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {

        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        int wrkMastRunCount = 0;
        long devperimeter = 0L;
        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) {
@@ -493,34 +517,29 @@
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            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 ;
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            } 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 ;
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            }


                            if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
                                double finalVelocity = 0.0;     // 最终速度 (m/s)
@@ -539,6 +558,11 @@
                                }
                            }

                            if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
                                rgvNoR.add(rgvProtocol.getRgvNo());
                            } else {
                                continue ;
                            }

                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
@@ -552,6 +576,9 @@
                            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));
                                wrkMast.setLogErrTime(new Date());
                                wrkMast.setLogErrMemo("RGV命令下发失败，RGV号={"+rgvId+"}===>跳过");
                                wrkMastService.updateById(wrkMast);
                                break runRgv;
                            }
                            log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
@@ -563,7 +590,6 @@
                            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());
@@ -573,6 +599,36 @@
                    }
                }
            }
        }
        try{
            for (Integer rgvNo : rgvNoM){
                if (wrkMastRunCount==0){
                    break;
                }
                if (rgvNoR.contains(rgvNo)){
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                wrkMastRunCount--;
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvProtocol.getAlarm() == 0) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(5,devperimeter))) {
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter);
                        break;
                    } else {
                        log.info("RGV漫游启动命令下发成功，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter);
                    }
                }
            }
        } catch (Exception e){

        }
    }

@@ -624,7 +680,7 @@
                                    wrkMastService.updateById(wrkMast);
                                    continue;
                                }else {
                                    log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败");
                                    log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败1");
                                }
                            } else {
                                //测试用