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

@@ -107,17 +107,19 @@
                log.error("获取所有站点信息异常");
                return;
            }
            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;
            }
//            List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
//            List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//            Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
            Integer siteNo = 110;
//            if (siteNo == null) {
//                log.error("就近密集原则获取站点失败");
//                return;
//            }
            Long sitePosition = 0L;
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getDevNo().equals(siteNo)) {
                    sitePosition = basDevpPosition.getPlcPosition();
                    break;
                }
            }
            List<List<Long>> rgvPositionList = new ArrayList<>();
@@ -185,7 +187,7 @@
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    sign = true;
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM  && rgvProtocol.getStatusType() != RgvStatusType.WALK)) {
                    sign = true;
                } else {
                    rgvNo = basCircularShuttle.getRgvNo();
@@ -354,6 +356,56 @@
                            log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
                        }
                        break runRgv;
                    } else if (rgvProtocol != null
                            && rgvProtocol.modeType == RgvModeType.AUTO
                            && rgvProtocol.getStatusType() == RgvStatusType.WALK
                            && rgvProtocol.getTaskNo1() == 0
                            && rgvProtocol.getAlarm() == 0) {
                        if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
                            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 + (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！！！");
//                                    break runRgv;
//                                }
//                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
//                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
                                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.X_MOVE); // 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(3, 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());
                        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;
                    } else {
                        break runRgv;
                    }

 src/main/java/com/zy/core/enums/RgvStatusType.java

@@ -13,6 +13,7 @@
    Outbound_operation_in_progress(7, "出站运行中","#2196F3"),
    Outbound_completed(8, "出站完成","#2196F3"),
    ROAM(11, "漫游","#2196F3"),
    WALK(12, "漫游2","#2196F3"),
    WAITING(100, "任务执行完成等待确认","#2196F3"),
    SOS110(110, "报警","#2196F3"),
    SOS(999, "未知","#2196F3")

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

@@ -84,6 +84,14 @@
    private void taskIssued() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
@@ -111,6 +119,20 @@
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        write3(command);
                        break;
                    // 复位
                    case 4:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
                        command4.setTaskNo1((short) 0); // 工作号
                        command4.setAckFinish1((short) 1);  // 任务完成确认位
                        command4.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
                        command4.setSourceStaNo1((short)0);     // 源站
                        command4.setDestinationStaNo1((short)0);     // 目标站
                        write3(command4);
                        break;
                    default:
                        break;
@@ -148,6 +170,14 @@
    private void readStatusRgv() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                Thread.sleep(40);
                readStatus();

@@ -215,7 +245,7 @@
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
            OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
            if (result.IsSuccess) {
            if (result.IsSuccess && resultV.IsSuccess && resultE.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());

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

@@ -78,6 +78,14 @@
    private void taskIssued() {
        while (true) {
            try {
                if(!connectSte){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Ste, slave.getId());
                if (task != null) {
@@ -130,6 +138,14 @@
    private void readStatusSte() {
        while (true) {
            try {
                if(!connectSte){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                Thread.sleep(50);
//                System.out.println("读线程"+ slave.getId());


 src/main/resources/application.yml

@@ -8,8 +8,8 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    url: jdbc:sqlserver://127.0.0.1:50751;databasename=gdhmasrs
#    url: jdbc:sqlserver://127.0.0.1:50948;databasename=gdhmasrs
#    url: jdbc:sqlserver://127.0.0.1:50751;databasename=gdhmasrs
    url: jdbc:sqlserver://127.0.0.1:50948;databasename=gdhmasrs
    username: sa
    password: sa@123
  mvc: