*

lsh

2025-04-27 98f1c4c9ffbbb3347ad752821505bc3c70ea4efc

*

 src/main/java/com/zy/asrs/entity/BasDevpPosition.java

@@ -42,7 +42,20 @@
        this.plcPosition = plcPosition;
    }

//    BasDevpPosition basDevpPosition = new BasDevpPosition(
    public BasDevpPosition(BasDevpPosition basDevpPosition) {
        this.id = basDevpPosition.getId();
        this.devNo = basDevpPosition.getDevNo();
        this.plcId = basDevpPosition.getPlcId();
        this.plcPosition = basDevpPosition.getPlcPosition();
    }

    public BasDevpPosition(BasDevpPosition basDevpPosition,Long plcPosition) {
        this.id = basDevpPosition.getId();
        this.devNo = basDevpPosition.getDevNo();
        this.plcId = basDevpPosition.getPlcId();
        this.plcPosition = plcPosition;
    }
    //    BasDevpPosition basDevpPosition = new BasDevpPosition(
//            null,    // 
//            null,    // 
//            null    // 

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

@@ -1211,7 +1211,7 @@

                    if (rgvOtherStatusEnable(rgvSlave)){
                        //分成上下两部分任务
                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions);
                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions,itSmall);
                        List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
                        List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
                        //就近排序
@@ -1223,15 +1223,17 @@

                        //筛选范围内任务
                        //就近排序
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
                        //筛选在范围任务
                        List<Integer> belongToRange = RouteUtils.belongToRange(rangeList, rgvProtocolOther.getRgvPosDestination(), basDevpPositions);
                        Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
                        List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

                        for (Integer staNoNow : belongToRange){
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                if (rgvStn.getStaNo().equals(staNoNow)){
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk!=null){
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                            sign = taskGenerate(rgvSlave,rgvStn,0);
                                        }
                                    }
@@ -1263,7 +1265,8 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }
@@ -1296,7 +1299,8 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }

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

@@ -7,6 +7,7 @@
import com.zy.core.model.RgvSlave;

import java.util.ArrayList;
import java.util.Collections;
import java.util.List;

import static java.util.stream.Collectors.toList;
@@ -16,55 +17,154 @@
 */
public class RouteUtils {
    //排序  执行方向（面朝轨道 定位值左小右大）  0:左 小   1:右 大
    public static List<Integer>[] gradeRange(List<Integer> staNoList,List<BasDevpPosition> basDevpPositions) {
    public static List<Integer>[] gradeRange(List<Integer> staNoList, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
        List<Integer>[] avoidRangeArray = new ArrayList[2];

        Integer[] rangeList = new Integer[staNoList.size()];
        List<Integer> rangeList1 = new ArrayList<>();
        List<Integer> rangeList2 = new ArrayList<>();

        int i = 0;
        for (BasDevpPosition basDevpPosition : basDevpPositionList) {
            for (Integer staNo : staNoList) {
                if (basDevpPosition.getDevNo().equals(staNo)) {
                    rangeList[i] = staNo;
                    i = i + 1;
                    break;
                }
            }
        }
        boolean sign = true;
        for (int j = 0; j < rangeList.length; j++) {
            if (itSmall) {
                if (sign) {
                    rangeList1.add(rangeList[j]);
                } else {
                    rangeList2.add(rangeList[j]);
                }
                if (sign && j >= rangeList.length / 2) {
                    sign = false;
                }
            } else {
                if (sign && j >= rangeList.length / 2) {
                    sign = false;
                }
                if (sign) {
                    rangeList1.add(rangeList[j]);
                } else {
                    rangeList2.add(rangeList[j]);
                }
            }
        }




        avoidRangeArray[0] = rangeList1;
        avoidRangeArray[1] = rangeList2;
        return avoidRangeArray;
    }




    //获取在范围的站点
    public static List<Integer> belongToRange(List<Integer> staNoList,Long position,List<BasDevpPosition> basDevpPositions){
    public static List<Integer> belongToRange(List<Integer> staNoList, Long[] avoid, List<BasDevpPosition> basDevpPositions) {
        List<Integer> siteList = new ArrayList<>();

        for (BasDevpPosition basDevpPosition : basDevpPositions) {
            if (new TrackRangeUtils().avoidRange(basDevpPosition.getPlcPosition(), avoid)) {
                for (Integer staNo : staNoList) {
                    if (basDevpPosition.getDevNo().equals(staNo)) {
                        siteList.add(staNo);
                        break;
                    }
                }
            }
        }

        return siteList;
    }

    //提取站点集合
    public static List<Integer> BasDevpPositionExtractSites(List<BasDevpPosition> basDevpPositions){
    public static List<Integer> BasDevpPositionExtractSites(List<BasDevpPosition> basDevpPositions) {
        List<Integer> siteList = new ArrayList<>();
        for (BasDevpPosition basDevpPosition : basDevpPositions){
            if (!siteList.contains(basDevpPosition.getDevNo())){
        for (BasDevpPosition basDevpPosition : basDevpPositions) {
            if (!siteList.contains(basDevpPosition.getDevNo())) {
                siteList.add(basDevpPosition.getDevNo());
            }
        }
        return siteList;
    }

    //提取站点集合
    public static List<Integer> SortNearby(List<Integer> staNoList,Long rgvNowPos,List<BasDevpPosition> basDevpPositions){
    //提取站点集合//就近排序
    public static List<Integer> SortNearby(List<Integer> staNoList, Long rgvNowPos, List<BasDevpPosition> basDevpPositionList) {
        List<Integer> siteList = new ArrayList<>();

        List<BasDevpPosition> basDevpPositions = devpNoSort(basDevpPositionList, rgvNowPos);
        for (BasDevpPosition basDevpPosition : basDevpPositions) {
            for (Integer staNo : staNoList) {
                if (basDevpPosition.getDevNo().equals(staNo)) {
                    siteList.add(staNo);
                    break;
                }
            }
        }


        return siteList;
    }

    //站点过滤
    public static List<BasDevpPosition> devpNoSort(List<BasDevpPosition> devpPositionList, Long rgvNowPos) {

        List<BasDevpPosition> basDevpPositions = new ArrayList<>();
        List<BasDevpPosition> basDevpPositionSort = new ArrayList<>();
        ArrayList<Long> arrayList = new ArrayList<>();
        for (BasDevpPosition basDevpPosition : devpPositionList) {
            long position = Math.abs(basDevpPosition.getPlcPosition() - rgvNowPos);
            BasDevpPosition devpPosition = new BasDevpPosition(basDevpPosition, position);
            basDevpPositions.add(devpPosition);
            arrayList.add(position);
        }
        Collections.sort(arrayList); // 升序排序
        for (Long position : arrayList) {
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getPlcPosition().equals(position)) {
                    basDevpPositionSort.add(basDevpPosition);
                    break;
                }
            }
        }
        return basDevpPositionSort;
    }

    //检测是否在范围
    public static boolean CheckIfItIsWithinTheRange(List<Integer> staNoList,Integer staNo,List<BasDevpPosition> basDevpPositions){
    public static boolean CheckIfItIsWithinTheRange(List<Integer> staNoList, Long staNoNowPos, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
        List<Integer> siteList = new ArrayList<>();
        if (staNoList.isEmpty()){
            return true;


        Integer[] rangeList = new Integer[staNoList.size()];
        int i = 0;
        for (BasDevpPosition basDevpPosition : basDevpPositionList) {
            for (Integer staNo : staNoList) {
                if (basDevpPosition.getDevNo().equals(staNo)) {
                    rangeList[i] = staNo;
                    i = i + 1;
                    break;
                }
            }
        }

        return false;
        if (itSmall) {
            return staNoNowPos <= rangeList[rangeList.length - 1];
        }
        return staNoNowPos >= rangeList[0];
    }

    public static long absoluteDifference(Long a, Long b) {
        if (a == null || b == null) {
            a = 0L;
            b = 0L;
//            throw new IllegalArgumentException("");
            System.out.println("a or b is null");
        }
        return Math.abs(a - b);
    }

}

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

@@ -23,7 +23,7 @@
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

        RgvProtocol rgvProtocolE, rgvProtocolB;
        if (rgvProtocol.getRgvPos() < rgvProtocolOther.getRgvPos()) {
        if (IsItSmall(slave)) {
            rgvProtocolE = rgvProtocolOther;
            rgvProtocolB = rgvProtocol;
        } else {
@@ -42,6 +42,38 @@

    }

    public Long[][] avoidRangeArr(RgvSlave slave, Long trackEntireLength, Long trackBenchmark, Long avoidDistance) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

        RgvProtocol rgvProtocolE, rgvProtocolB;
        if (IsItSmall(slave)) {
            rgvProtocolE = rgvProtocolOther;
            rgvProtocolB = rgvProtocol;

            long entireLength = rgvProtocolE.getRgvPosDestination() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng();
            long benchmark = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing();

            long entireLengthOther = trackEntireLength - rgvProtocolE.getCarBodyKunPeng();
            long benchmarkOther = rgvProtocolB.getRgvPosDestination() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing();

            return new Long[][]{new Long[]{entireLength, benchmark}, new Long[]{entireLengthOther, benchmarkOther}};

        } else {
            rgvProtocolE = rgvProtocol;
            rgvProtocolB = rgvProtocolOther;

            long entireLength = trackEntireLength - rgvProtocolE.getCarBodyKunPeng();
            long benchmark = rgvProtocolB.getRgvPosDestination() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing();

            long entireLengthOther = rgvProtocolE.getRgvPosDestination() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng();
            long benchmarkOther = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing();

            return new Long[][]{new Long[]{entireLength, benchmark}, new Long[]{entireLengthOther, benchmarkOther}};
        }

    }

    public boolean avoidRange(Long avoid, Long[] range) {
        return avoid < range[0] && avoid > range[1];
    }