rgv调度优化

pjb

2 天以前 e156048b1ea844434ca7675af45e37a2dfad6e8c

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

@@ -98,7 +98,7 @@
     */
    public synchronized void updateStePositionNearby() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2L));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 9L).eq("rgv_no",0));
            if (wrkMasts.isEmpty()) {
                return;
            }
@@ -225,7 +225,7 @@
     */
    public synchronized void DevpTaskNoRun() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).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;
            }
@@ -259,7 +259,7 @@
            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("rgv_no", 0).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())) {
@@ -300,7 +300,7 @@
                        continue;
                    }

                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()));
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts",10));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }
@@ -308,11 +308,11 @@
                            && (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！！！");
@@ -321,10 +321,10 @@
//                                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
@@ -341,6 +341,7 @@
                        log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                        wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                        wrkMast.setWrkSts(10L);
                        wrkMast.setAppeTime(new Date());
                        try {
                            wrkMastService.updateById(wrkMast);
@@ -371,9 +372,7 @@
                    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
@@ -381,16 +380,19 @@
                ) {
                    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() == 2 || wrkMast.getWrkSts() == 15) && (wrkMast.getRgvNo() == 0 || wrkMast.getRgvNo() > 10)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + rgvProtocol.getTaskNo1());
                    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.setRgvNo(10+rgvProtocol.getRgvNo());
                    wrkMast.setWrkSts(2L);
                    Date now = new Date();
                    wrkMast.setModiTime(now);
                    wrkMastService.updateById(wrkMast);
@@ -408,7 +410,7 @@
        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);