*

hmpc

2025-01-09 da47b796dcc6701c839b2409a7d7ebd33c472024

*

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

@@ -60,6 +60,26 @@
    /**
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePositionNearby1() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            try{
                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", 111));
                if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*0.1))){
//                        continue ;
                }
            } catch (Exception e){

            }
        }
    }

    public synchronized void updateStePositionNearby() {
        try{
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
@@ -269,7 +289,7 @@
                            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) + (rgvProtocol.instantaneousSpeed/60)*10000*0.5))){
                            if (distance*proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(),rgvProtocol.getRgvPos(),perimeter) + (rgvProtocol.instantaneousSpeed/60)*proportion*0.2))){
                                continue ;
                            }
                        }

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

@@ -45,6 +45,7 @@
                        continue;
                    }
                    //更新位置信息
//                    mainService.updateStePositionNearby1();
                    mainService.updateStePositionNearby();

                    mainService.updateStePosition();