*

L

14 小时以前 1dacf2305187f5c2fb44f03b6b754c46cb73ba25

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

@@ -100,7 +100,7 @@
    public synchronized int[][] getStePositionNearby(Integer siteNo) {
        try {
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            if (basDevpPositions.isEmpty()) {
            if (basDevpPositions == null || basDevpPositions.isEmpty()) {
                log.error("获取所有站点信息异常");
                return null;
            }
@@ -114,8 +114,11 @@
            List<List<Long>> rgvPositionList = new ArrayList<>();
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
                    continue;
                }
                List<Long> rgvPosition = new ArrayList<>();
@@ -123,17 +126,31 @@
                rgvPosition.add(rgvProtocol.getRgvPos());
                rgvPositionList.add(rgvPosition);
            }
            if (rgvPositionList.isEmpty()) {
                return null;
            }
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
            if (rgvNo == -1) {
                log.info("更新小车排序信息异常={}", rgvNo);
                return null;
            }
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
                return null;
            }
            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
                    continue;
                }
                if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
                    continue;
                }
                ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
            }
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
            if (basCircularShuttleList.get(0) != null
                    && basCircularShuttleList.get(0).getRgvNo() != null
                    && basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return ints;
            }
//            String[] oldList = new String[ints.length];
@@ -145,7 +162,7 @@


        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
            log.error("自动更新小车排序信息失败(getStePositionNearby), siteNo={}", siteNo, e);
        }
        return null;

@@ -159,12 +176,23 @@
            boolean sign = false;
            Integer rgvNo = 0;
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
                return;
            }
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                    sign = true;
                    continue;
                }
                if (basCircularShuttle.getStatus() != 0){
                    sign = true;
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                if (rgvThread == null) {
                    sign = true;
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    sign = true;
@@ -178,6 +206,12 @@
            if (sign && rgvNo != 0) {
                int[][] ints = new int[basCircularShuttleList.size()][2];
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
                        continue;
                    }
                    if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
                        continue;
                    }
                    ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
                }
//                String[] oldList = new String[ints.length];
@@ -192,14 +226,23 @@

//                log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                        continue;
                    }
                    if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > rgvList.length) {
                        continue;
                    }
                    int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                    if (rgv == null || rgv.length < 2) {
                        continue;
                    }
                    basCircularShuttle.setRgvId(rgv[1]);
                    basCircularShuttleService.updateById(basCircularShuttle);
                }
            }

        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
            log.error("自动更新小车排序信息失败(updateStePosition)", e);
        }
    }

@@ -219,13 +262,22 @@
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                return;
            }
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            if (rgvThread == null) {
                return;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
            if (rgvProtocol == null || rgvProtocol.getRgvPos() == null) {
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
            if (basDevpPositions == null || basDevpPositions.isEmpty() || basDevpPositionDevRegion == null || basDevpPositionDevRegion.isEmpty()) {
                return;
            }
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
            BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
@@ -355,14 +407,20 @@
                            }

                            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
                            if (basCircularShuttle == null) {
                                continue;
                            }
                            if (basCircularShuttle.getStatus() != 0){
                                continue ;
                            }
                            long rgvId = basCircularShuttle.getRgvId();

                            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                            if (rgvThread == null) {
                                continue;
                            }
                            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                            if (rgvProtocol == null) {
                            if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
                                continue;
                            }

@@ -374,8 +432,12 @@
                                    && rgvProtocol.modeType == RgvModeType.AUTO
                                    && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                    && rgvProtocol.getTaskNo1() == 0
                                    && rgvProtocol.getRgvPosInt() != 0
                                    && rgvProtocol.getAlarm() == 0) {
                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                                if (basDevpPosition == null || basDevpPosition.getPlcPosition() == null) {
                                    continue;
                                }
                                if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                    if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
@@ -478,6 +540,9 @@
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -506,6 +571,9 @@
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -524,7 +592,7 @@
                        && rgvProtocol.getTaskNo1() != 0
                ) {
//                    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()));
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
@@ -595,6 +663,9 @@
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -607,37 +678,37 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
//                    rgvCommand.setCommand((short) 1);   //工位1任务确认
//                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
//                        wrkMast.setLogErrTime(new Date());
//                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
//                        wrkMastService.updateById(wrkMast);
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));

                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvCommand.getTaskNo1().longValue()).eq("rgv_no",rgvCommand.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        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.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        wrkMast.setLogErrTime(new Date());
                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
                        wrkMastService.updateById(wrkMast);
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));


                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setRgvNo(0);
                    wrkMast.setAppeTime(now);
                    wrkMast.setLogErrTime(now);
                    wrkMast.setRgvNo(null);

                    wrkMast.setLogErrMemo("RGV申请取消任务，RGV号={"+rgvProtocol.getRgvNo()+"}，取消时间："+now);