*

lsh

2025-06-07 6be77dcf31e3c9d7233b36d8e9d22c4d1d802f3e

*

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

@@ -94,29 +94,16 @@
        return false;
    }


    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePositionNearby() {
    public synchronized int[][] getStePositionNearby(Integer siteNo) {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
            if (wrkMasts.isEmpty()) {
                return;
            }
            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");
                return;
                return null;
            }
//            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;
//            }
            Integer siteNo = 110;
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getDevNo().equals(siteNo)) {
@@ -139,37 +126,29 @@
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
            if (rgvNo == -1) {
                log.info("更新小车排序信息异常={}", rgvNo);
                return;
                return null;
            }
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return;
            }

            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
            }
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return ints;
            }
//            String[] oldList = new String[ints.length];
//            for (int[] rgv : ints){
//                oldList[rgv[0]-1] = Arrays.toString(rgv);
//            }
            int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
//            String[] newList = new String[rgvList.length];
//            for (int[] rgv : rgvList){
//                newList[rgv[0]-1] = Arrays.toString(rgv);
//            }
            return rgvList;

//            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) {
                int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                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);
        }
        return null;

    }

    /**
@@ -227,22 +206,24 @@
    /**
     * 站点任务检测  下发小车取放任务
     */
    public synchronized void DevpTaskNoRun() {
    public synchronized List<List<List<WrkMast>>> DevpTaskNoRun() {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();

        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
            if (wrkMasts.isEmpty()) {
                return;
                return wrkMastListAll;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds <= 1000) {
                return;
                return wrkMastListAll;
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
                return wrkMastListAll;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
@@ -251,13 +232,16 @@
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
            List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
//            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
            List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll,basDevpPositionsListUN);
            return getWrkMastListAll(siteListAll,basDevpPositionsListUN);
            //下发任务
//            taskDown(wrkMastLists);
            taskDown(wrkMastListAll);

        } catch (Exception e) {
            log.error("自动下发小车取放任务失败，异常：" + e);
        }
        return wrkMastListAll;


    }

    //获取小车取放任务列表失败
@@ -479,72 +463,87 @@
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {

//0小车车号  1小车编号
        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        int wrkMastRunCount = 0;
        long devperimeter = 0L;
        for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
            long rgvId = 0;
            runRgv:
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
                    while (rgvId <= rgvCount) {
                        rgvId++;
//                    log.info("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));
                        if (rgvId > rgvCount) {
                            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) {
                            continue;
        try{
            for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
                List<Integer> rgvNoRN = new ArrayList<>();
                runRgv:
                for (List<WrkMast> wrkMastList : wrkMastLists) {
                    for (WrkMast wrkMast : wrkMastList) {

                        int[][] stePositionNearby = getStePositionNearby(wrkMast.getSourceStaNo());
                        if (stePositionNearby==null){
                            break  runRgv;
                        }

                        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
                        if (!wrkMasts.isEmpty()) {
                            continue;
                        int[] rgvListRun = new int[stePositionNearby.length];
                        for (int[] rgvNo:stePositionNearby){
                            rgvListRun[rgvNo[0]-1] = rgvNo[1];
                        }
                        if (rgvProtocol != null
                                && rgvProtocol.modeType == RgvModeType.AUTO
                                && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                && rgvProtocol.getTaskNo1() == 0
                                && rgvProtocol.getAlarm() == 0) {
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                    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;
                                    }
                                    continue ;
                                }
                            } else {
                                if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                    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;
                                    }
                                    continue ;
                                }

                        for (int rgvNo : rgvListRun){
                            if (rgvNoRN.contains(rgvNo)){
                                continue;
                            }

                            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);
                                if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
                            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
                            if (basCircularShuttle.getStatus() != 0){
                                continue ;
                            }
                            long rgvId = basCircularShuttle.getRgvId();

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

                            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
                            if (!wrkMasts.isEmpty()) {
                                continue;
                            }
                            if (rgvProtocol != null
                                    && rgvProtocol.modeType == RgvModeType.AUTO
                                    && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                    && rgvProtocol.getTaskNo1() == 0
                                    && rgvProtocol.getAlarm() == 0) {
                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                                if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                    if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                            rgvNoM.add(rgvProtocol.getRgvNo());
                                            rgvNoRN.add(rgvProtocol.getRgvNo());
                                            if (wrkMastRunCount == 0){
                                                devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                            }
                                            wrkMastRunCount++;
                                            break;
                                        }
                                        continue ;
                                    }
                                } else {
                                    if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                            rgvNoM.add(rgvProtocol.getRgvNo());
                                            rgvNoRN.add(rgvProtocol.getRgvNo());
                                            if (wrkMastRunCount == 0){
                                                devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                            }
                                            wrkMastRunCount++;
                                            break;
                                        }
                                        continue ;
                                    }
                                }

                                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);
                                    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！！！");
@@ -553,52 +552,58 @@
//                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                    continue;
                                        continue;
//                                }
                                    }
                                }
                            }

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

                                wrkMast.setWrkSts(2L);
                                wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                                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;
                            }
                            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;
                            } catch (Exception e) {
                                log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
                            }
                            break runRgv;
                        }
                    }
                }
            }

        } catch (Exception e){
            log.error("RGV漫游启动命令下发失败，任务数据===> "+JSON.toJSON(wrkMastListAll));
            return;
        }
        try{
            for (Integer rgvNo : rgvNoM){

 src/main/java/com/zy/core/MainProcess.java

@@ -1,5 +1,6 @@
package com.zy.core;

import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.properties.SystemProperties;
import lombok.Data;
@@ -11,6 +12,7 @@
import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
 * WCS主流程
@@ -59,16 +61,31 @@
                        continue;
                    }

                    //更新位置信息
                    mainService.updateStePositionNearby();

                    //更新位置信息
                    mainService.updateStePosition();
                    // 任务排序
                    List<List<List<WrkMast>>> wrkMastListAll = mainService.DevpTaskNoRun();
                    // 任务下发
                    mainService.DevpTaskNoRun();
                    mainService.taskDown(wrkMastListAll);;
                    // 任务完成
                    mainService.rgvCompleteWrkMastSta(autoZ);
                    //更新位置信息
                    mainService.updateStePosition();
                    // 任务完成
                    mainService.rgvCompleteWrkMastSta(autoZ);



//
//                    //更新位置信息
//                    mainService.updateStePositionNearby(null);
//                    //更新位置信息
//                    mainService.updateStePosition();
//                    // 任务下发
//                    mainService.DevpTaskNoRun();
//                    // 任务完成
//                    mainService.rgvCompleteWrkMastSta(autoZ);
//                    //更新位置信息
//                    mainService.updateStePosition();
//                    System.out.println("结束："+new Date().getTime());