*

lsh

2025-01-08 86cdf4583ebb884ecdcd7c90f057c103bbace121

*

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

@@ -51,6 +51,12 @@

    @Value("${constant-parameters.perimeter}")
    private Long perimeter;
    @Value("${constant-parameters.proportion}")
    private Long proportion;
    @Value("${constant-parameters.acceleration}")
    private Long acceleration;
    @Value("${constant-parameters.rgvCount}")
    private Long rgvCount;
    /**
     * 站点任务检测  更新小车位置信息
     */
@@ -236,55 +242,65 @@
        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));

                log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

                rgvId++;
                BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
                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){
                    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
                    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));
                    if (rgvId > rgvCount){
                        break runRgv;
                    }
                    log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                    wrkMast.setWrkSts(2L);
                    wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                    wrkMast.setAppeTime(new Date());
                    try{
                        wrkMastService.updateById(wrkMast);
                    BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null){
                        continue ;
                    }catch (Exception e){
                        log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
                    }
                    break runRgv;
                } else {
                    break runRgv;
                    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 > SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter)){
                        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){
                        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
                        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));
                            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());
                        wrkMast.setAppeTime(new Date());
                        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 {
                        break runRgv;
                    }
                }
            }

        }
    }


 src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java

@@ -458,4 +458,20 @@
//    }


    //获取最近并在当前位置前边的位置 0==>1000===>1000000==>0
    public static Double LatelyAndLessThan(long devPosition,long rgvPosition,long perimeter){
        long Difference = perimeter;
        if (devPosition >= rgvPosition){
            if ((devPosition-rgvPosition) < Difference){
                Difference = devPosition-rgvPosition;
            }
        } else {
            if (perimeter - (rgvPosition - devPosition) < Difference){
                Difference = perimeter - (rgvPosition - devPosition);
            }
        }
        return Double.valueOf(Difference);
    }


}

 src/main/java/com/zy/core/model/protocol/RgvProtocol.java

@@ -64,6 +64,7 @@
     * RGV当前位置
     */
    public Long RgvPos;
    public Double instantaneousSpeed;// 瞬时速度 (m/min)

    /**
     * 走行在定位

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -147,6 +147,7 @@
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
@@ -161,6 +162,7 @@
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));


 src/main/resources/application.yml

@@ -33,7 +33,14 @@
  enable: false

constant-parameters:
  # 轨道总长
  perimeter: 1737000
  # 轨道转换为米比例
  proportion: 10000
  # 加速度  m/s^2
  acceleration: -2
  # 小车数
  rgvCount: 10

# 下位机配置
wcs-slave: