*

lsh

6 天以前 c3298aea8c7ae7d31a8853266735543710707b51

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

@@ -11,9 +11,12 @@
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.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -52,6 +55,8 @@
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private CommonService commonService;

    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
@@ -63,12 +68,23 @@
    private Long rgvCount;
    @Value("${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());
@@ -91,17 +107,19 @@
                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);
            Integer siteNo = 110;
//            if (siteNo == null) {
//                log.error("就近密集原则获取站点失败");
//                return;
//            }
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getDevNo().equals(siteNo)) {
                    sitePosition = basDevpPosition.getPlcPosition();
                    break;
                }
            }
            List<List<Long>> rgvPositionList = new ArrayList<>();
@@ -121,7 +139,7 @@
                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;
            }
@@ -161,11 +179,15 @@
            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) {
                    sign = true;
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM  && rgvProtocol.getStatusType() != RgvStatusType.WALK)) {
                    sign = true;
                } else {
                    rgvNo = basCircularShuttle.getRgvNo();
@@ -271,6 +293,9 @@
                        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) {
@@ -311,6 +336,7 @@
                        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));
@@ -320,7 +346,59 @@

                        wrkMast.setWrkSts(2L);
                        wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                        wrkMast.setAppeTime(new Date());
                        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;
@@ -337,7 +415,7 @@
    }

    //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());
@@ -370,7 +448,46 @@
                        break;
                    }
                    wrkMast.setWrkSts(3L);
                    wrkMast.setAppeTime(new Date());
                    Date now = new Date();
                    wrkMast.setAppeTime(now);
                    wrkMast.setCrnEndTime(now);
                    try{
                        try{
                            if (reportSwitch){
                                RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
                                ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, 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");
                                }
                            } else {
                                //测试用
                                wrkMast.setWrkSts(4L);
                                wrkMast.setAppeTime(now);
                                wrkMastService.updateById(wrkMast);
                                if (reportSwitchAuto) {
                                    WrkMast wrkMast1 = new WrkMast();
                                    int workNo = commonService.getWorkNo(0);
                                    wrkMast1.setWrkNo((long) workNo);
                                    wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ));
                                    wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ));
                                    wrkMast1.setWrkSts(1L);
                                    wrkMast1.setIoType(1);
                                    wrkMast1.setModiTime(now);
                                    wrkMast1.setAppeTime(now);
                                    wrkMast1.setMemo("测试数据");
                                    wrkMastService.insert(wrkMast1);
                                }
                                continue;
                            }
                        } 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){}
                    wrkMastService.updateById(wrkMast);
                }
            }