*

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
     */
@@ -236,16 +242,26 @@
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists){
            for (WrkMast wrkMast: wrkMastList){

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

                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));
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null){
                    continue ;
                }
                    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 ;
@@ -268,14 +284,14 @@
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        break runRgv;
                    }
                    log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        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);
                        continue ;
                            break;
                    }catch (Exception e){
                        log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
                    }
@@ -284,7 +300,7 @@
                    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: