From 11eaa61d046200bb5eeecfc35d1ca1964505136d Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期三, 23 十月 2024 11:46:07 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 93 +++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 90 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 82a9b90..9cface6 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -9,6 +9,7 @@
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
+import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -47,7 +48,78 @@
@Autowired
private WrkMastService wrkMastService;
/**
- * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
+ * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
+ */
+ public synchronized void updateStePositionNearby() {
+ try{
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
+ if (wrkMasts.isEmpty()){
+ return;
+ }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
+ if (basDevpPositions.isEmpty()){
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ return;
+ }
+ List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
+ List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+ Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
+ if (siteNo == null){
+ log.error("灏辫繎瀵嗛泦鍘熷垯鑾峰彇绔欑偣澶辫触");
+ return;
+ }
+ Long sitePosition = 0L;
+ for (BasDevpPosition basDevpPosition : basDevpPositions){
+ if (basDevpPosition.getDevNo().equals(siteNo)){
+ sitePosition = basDevpPosition.getPlcPosition();
+ }
+ }
+ List<List<Long>> rgvPositionList = new ArrayList<>();
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ List<Long> rgvPosition = new ArrayList<>();
+ rgvPosition.add(rgvProtocol.getRgvNo().longValue());
+ rgvPosition.add(rgvProtocol.getRgvPos());
+ rgvPositionList.add(rgvPosition);
+ }
+ Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition);
+
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)){
+ return;
+ }
+
+ int[][] ints = new int[basCircularShuttleList.size()][2];
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
+ ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
+ }
+ String[] oldList = new String[ints.length];
+ for (int[] rgv : ints){
+ oldList[rgv[0]-1] = Arrays.toString(rgv);
+ }
+ int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
+ String[] newList = new String[rgvList.length];
+ for (int[] rgv : rgvList){
+ newList[rgv[0]-1] = Arrays.toString(rgv);
+ }
+
+ log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
+ int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
+ basCircularShuttle.setRgvId(rgv[1]);
+ basCircularShuttleService.updateById(basCircularShuttle);
+ }
+
+ } catch (Exception e) {
+ log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細"+e);
+ }
+ }
+ /**
+ * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
*/
public synchronized void updateStePosition() {
try{
@@ -98,6 +170,15 @@
*/
public synchronized void DevpTaskNoRun() {
try{
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",true));
+ if (wrkMasts.isEmpty()){
+ return;
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInSeconds(wrkMasts.get(0).getModiTime(), new Date());
+ if (differenceInSeconds<=5){
+ return;
+ }
+
BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -146,6 +227,8 @@
runRgv:
for (List<WrkMast> wrkMastList : wrkMastLists){
for (WrkMast wrkMast: wrkMastList){
+ log.error("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
+
rgvId++;
BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
@@ -158,6 +241,7 @@
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
@@ -167,6 +251,8 @@
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
break runRgv;
}
+ log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+
wrkMast.setWrkSts(2L);
wrkMast.setRgvNo(rgvProtocol.getRgvNo());
wrkMast.setAppeTime(new Date());
@@ -198,7 +284,9 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
continue;
}
-
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ }
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
&& rgvProtocol.getModeType() == RgvModeType.AUTO
@@ -232,7 +320,6 @@
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
return false;
} else {
--
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