From 1725fe3afb54e76d490e3efb4f14931960618eae Mon Sep 17 00:00:00 2001 From: LSH Date: 星期三, 03 四月 2024 09:55:53 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/utils/RouteUtils.java | 32 ++++++++++++++++ src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 52 ++++++++++++++----------- src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java | 1 src/main/resources/mapper/WrkMastStaMapper.xml | 11 +++++ 4 files changed, 73 insertions(+), 23 deletions(-) diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java index 7ece0f1..c77cb80 100644 --- a/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java +++ b/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java @@ -18,6 +18,7 @@ * */ Integer selectAllWrkCount(@Param("type")Integer type); Integer selectAllWrkStsCount(@Param("type")Integer type,@Param("wrkSts")Integer wrkSts); + WrkMastSta selectAllWrkStsCountWrkMastSta(@Param("type")Integer type,@Param("wrkSts")Integer wrkSts); /* * 鑾峰彇鎵�鏈夊彲鎵ц浠诲姟 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 1c2fce9..b2ad115 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -4084,10 +4084,15 @@ * */ public synchronized void rgvRunWrkMastEmptyStaAvoidance() { try{ - Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔� - if (integer==0){ +// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔� +// if (integer==0){ +// return; +// } + WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0); + if (Cools.isEmpty(wrkMastSta)){ return; } + Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd()); boolean signRgv = true; for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); @@ -4102,14 +4107,27 @@ } // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 - if (!(rgvProtocol.getStatusType() == RgvStatusType.IDLE + if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊¢兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE - )) { + ) { +// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ + if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){ + signRgv = false; + break; + } + if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ + signRgv = false; + break; + } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){ + signRgv = false; + break; + } + }else { signRgv = false; break; } @@ -4119,11 +4137,6 @@ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { - continue; - } - BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); - if (basRgv == null) { - log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId()); continue; } @@ -4137,16 +4150,9 @@ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); - if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ - continue; - } - if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ - continue; - } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){ - continue; - } - rgvAvoidanceXY(rgvProtocol.getRgvNo()); + rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); + break; } } } @@ -4194,10 +4200,10 @@ /* * 灏忚溅XY绉诲姩 閬胯 * */ - public synchronized boolean rgvAvoidanceXY(Integer rgvId){ + public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){ if (rgvId==1){ try{ - BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); +// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 鍛戒护涓嬪彂鍖� -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV缂栧彿 @@ -4205,7 +4211,7 @@ rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙� rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐� //basRgvMap.getLockStartRoute().shortValue() - rgvCommand.setSourceStaNo1( (short)101); + rgvCommand.setSourceStaNo1(rgvRunSta[0].shortValue()); rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, 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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙� @@ -4220,14 +4226,14 @@ } }else { try{ - BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); +// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 鍛戒护涓嬪彂鍖� -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV缂栧彿 rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣� rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙� rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐� - rgvCommand.setSourceStaNo2((short)117); + rgvCommand.setSourceStaNo2(rgvRunSta[1].shortValue()); rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙� diff --git a/src/main/java/com/zy/asrs/utils/RouteUtils.java b/src/main/java/com/zy/asrs/utils/RouteUtils.java index 8f42bc4..8c5be63 100644 --- a/src/main/java/com/zy/asrs/utils/RouteUtils.java +++ b/src/main/java/com/zy/asrs/utils/RouteUtils.java @@ -3,6 +3,8 @@ import java.util.ArrayList; import java.util.List; import static java.util.stream.Collectors.toList; + +import com.zy.asrs.entity.WrkMastSta; import com.zy.core.enums.RouteCollectCountType; import springfox.documentation.spring.web.json.Json; @@ -347,6 +349,36 @@ return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION); } + public static Integer[] RgvRunSta(Integer runStaStart,Integer runStaEnd){ + int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaStart); + int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd); + if (ia<=ib){ + return new Integer[]{runStaStart,runStaEnd}; + }else { + return new Integer[]{runStaEnd,runStaStart}; + } + + } + + public static boolean RgvRunStaSign(Integer staBow,Integer runStaEnd,Integer rgvNo){ + int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(staBow); + int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd); + if (rgvNo==1){ + if (ia>ib){ + return true;//闇�瑕侀伩璁� + }else { + return false;//涓嶉渶瑕侀伩璁� + } + }else { + if (ia<ib){ + return true;//闇�瑕侀伩璁� + }else { + return false;//涓嶉渶瑕侀伩璁� + } + } + + } + public static void main(String[] arge){ diff --git a/src/main/resources/mapper/WrkMastStaMapper.xml b/src/main/resources/mapper/WrkMastStaMapper.xml index 6650f59..27ab049 100644 --- a/src/main/resources/mapper/WrkMastStaMapper.xml +++ b/src/main/resources/mapper/WrkMastStaMapper.xml @@ -93,6 +93,17 @@ </if> </select> + <select id="selectAllWrkStsCount" resultMap="BaseResultMap"> + select top 1 * from asr_wrk_mast_sta + where 1=1 + <if test="type!=null"> + and type = #{type} + </if> + <if test="wrkSts!=null"> + and wrk_sts = #{wrkSts} + </if> + </select> + -- Gitblit v1.9.1