zy-wcs.git - Gitblit

			@@ -94,7 +94,7 @@
			new Thread(this::taskIssued).start();

			// 启动漫游线程
			// new Thread(this::taskWalkIssued).start();
			new Thread(this::taskWalkIssued).start();
			// new Thread(this::taskWalkIssued2).start();

			// 启动任务完成线程
			@@ -104,6 +104,7 @@
			private void rgvConnect() {
			while (true) {
			try {
			Thread.sleep(1000);
			if(!connectRgv){
			try {
			connectRgv = this.connect();
			@@ -129,6 +130,15 @@
			private void readStatusRgv() {
			while (true) {
			try {
			if(!connectRgv){
			try {
			Thread.sleep(1000L);
			} catch (Exception e){

			}
			initRgv();
			continue;
			}
			Thread.sleep(20);
			// System.out.println("读线程"+ slave.getId());

			@@ -156,6 +166,14 @@
			private void taskComplete() {
			while (true) {
			try {
			if(!connectRgv){
			try {
			Thread.sleep(1000L);
			} catch (Exception e){

			}
			continue;
			}
			if (delRgvTask){
			writeDelRgvTask();
			delRgvTask = false;
			@@ -249,46 +267,62 @@
			/**
			* 漫游
			*/
			// private void taskWalkIssued() {
			// while (true) {
			// try {
			// // 休眠 1 秒
			// Thread.sleep(100);
			//
			// if (!deviceDetection()) {
			// continue;
			// }
			// RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
			// if (rgvTaskProtocol == null) {
			// initRgv();
			// rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
			// }
			// if (rgvTaskProtocol.getAvoid() != 1) {
			// continue;
			// }
			// TaskProtocol issued = new TaskProtocol();
			// issued.setTaskNo(32222L);
			// issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
			// issued.setTaskStatus(1);
			// issued.setDirection(true);
			// write(issued);
			// rgvTaskProtocol.setAvoid(0);
			//
			// Thread.sleep(200);
			// RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
			//
			// } catch (Exception e) {
			// log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
			//// e.printStackTrace();
			// }
			// }
			// }
			private void taskWalkIssued() {
			while (true) {
			try {
			if(!connectRgv){
			try {
			Thread.sleep(1000L);
			} catch (Exception e){

			}
			continue;
			}
			// 休眠 1 秒
			Thread.sleep(100);

			if (!deviceDetection()) {
			continue;
			}
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
			if (rgvTaskProtocol == null) {
			initRgv();
			rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
			}
			if (rgvTaskProtocol.getAvoid() != 1) {
			continue;
			}
			TaskProtocol issued = new TaskProtocol();
			issued.setTaskNo(32222L);
			issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
			issued.setTaskStatus(1);
			issued.setDirection(true);
			write(issued);
			rgvTaskProtocol.setAvoid(0);

			Thread.sleep(200);
			RgvTaskCache.updateRgvStatus(rgvTaskProtocol);

			} catch (Exception e) {
			log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
			// e.printStackTrace();
			}
			}
			}

			/**
			* 任务下发
			*/
			private void taskIssued() {
			while (true) {
			if(!connectRgv){
			try {
			Thread.sleep(1000L);
			} catch (Exception e){

			}
			continue;
			}
			RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
			if (!rgvRun.getRgvNo().equals(slave.getId())){
			continue;
			@@ -308,7 +342,9 @@
			rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
			rgvRun.setRgvNo(slave.getOtherId());
			RgvRunCache.updateRgvStatus(rgvRun);
			RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
			if (!errorRgv.equals("无")){
			RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
			}
			continue;
			}

			@@ -333,20 +369,6 @@
			continue;
			}
			if (rgvTaskProtocol.getAvoid() != 0) {
			if (rgvTaskProtocol.getAvoid() == 1) {
			TaskProtocol issued = new TaskProtocol();
			issued.setTaskNo(32222L);
			issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
			issued.setTaskStatus(1);
			issued.setDirection(true);
			write(issued);
			RgvErrCache.updateRgvErr(slave.getId());
			rgvTaskProtocol.setAvoid(0);

			// try{Thread.sleep(50L);} catch (Exception e){}

			RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
			}
			rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
			rgvRun.setRgvNo(slave.getOtherId());
			RgvRunCache.updateRgvStatus(rgvRun);
			@@ -494,7 +516,7 @@
			return false;
			}
			if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
			errorRgv = slave.getId()+"号小车非空闲";
			errorRgv = "无";
			return false;
			}
			if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
			@@ -534,6 +556,10 @@

			public boolean otherRgvAvoid(Long targetPosition) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			long onePos = Math.abs(targetPosition - rgvProtocol.getRgvPos());
			if (onePos<50){
			return true;
			}
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			@@ -591,6 +617,66 @@
			}
			}
			}
			if (signNowPosRun){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			}
			TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
			if (!Cools.isEmpty(nowPosRunTask2)){
			boolean signNowPosRun = true;
			boolean signNowPosA = true;
			if (targetPosition - rgvProtocol.getRgvPos()>0){
			if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
			if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
			signNowPosA = false;
			signNowPosRun = false;
			}
			}
			} else if (targetPosition - rgvProtocol.getRgvPos()<0){
			if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
			if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
			signNowPosA = false;
			signNowPosRun = false;
			}
			}
			}

			if (signNowPosA){
			if (nowPosRunTask2.getTaskStatus()==3){
			long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
			if (Math.abs(onePos - twoPos)>100){
			if (onePos-50>twoPos+50){
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
			if (staProtocol == null ) {
			signNowPosRun =false;
			}
			if (signNowPosRun){
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && !staProtocol.isLoading()
			){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			}
			signNowPosRun =false;
			}
			}
			} else {
			long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
			if (twoPos<100){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			if (Math.abs(onePos - twoPos)>100){
			if (onePos-50>twoPos+50){
			signNowPosRun =false;
			}
			}
			}
			}

			if (signNowPosRun){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			@@ -742,6 +828,67 @@
			return false;
			}
			}

			TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
			if (!Cools.isEmpty(nowPosRunTask2)){
			boolean signNowPosRun = true;
			boolean signNowPosA = true;
			if (targetPosition - rgvProtocol.getRgvPos()>0){
			if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
			if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
			signNowPosA = false;
			signNowPosRun = false;
			}
			}
			} else if (targetPosition - rgvProtocol.getRgvPos()<0){
			if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
			if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
			signNowPosA = false;
			signNowPosRun = false;
			}
			}
			}

			if (signNowPosA){
			if (nowPosRunTask2.getTaskStatus()==3){
			long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
			if (Math.abs(onePos - twoPos)>100){
			if (onePos-50>twoPos+50){
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
			if (staProtocol == null ) {
			signNowPosRun =false;
			}
			if (signNowPosRun){
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && !staProtocol.isLoading()
			){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			}
			signNowPosRun =false;
			}
			}
			} else {
			long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
			if (twoPos<100){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			if (Math.abs(onePos - twoPos)>100){
			if (onePos-50>twoPos+50){
			signNowPosRun =false;
			}
			}
			}
			}

			if (signNowPosRun){
			errorRgv = slave.getOtherId()+"号RGV等待作业...";
			return false;
			}
			}
			long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
			if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
			log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());