From 44be6da8fc2740a7e81d5b878a894e318b6a5f8c Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期日, 27 四月 2025 15:51:37 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 498 +++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 424 insertions(+), 74 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 c15dab2..8fda140 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,39 +4,34 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
-import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
-import com.zy.asrs.controller.OpenController;
-import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
+import com.zy.asrs.utils.RouteUtils;
+import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.SlaveConnection;
+import com.zy.core.cache.*;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
+import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
+import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -45,11 +40,8 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.io.IOException;
-import java.lang.management.ManagementFactory;
-import java.lang.management.MemoryMXBean;
-import java.lang.management.MemoryUsage;
-import java.lang.management.ThreadMXBean;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -80,31 +72,41 @@
private TaskWrkService taskWrkService;
@Autowired
private StaDescMapper staDescMapper;
-
@Autowired
private StaDescService staDescService;
-
@Autowired
private ApiLogService apiLogService;
@Autowired
private CommonService commonService;
+ @Autowired
+ private CrnController crnController;
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
@Value("${wms.url}")
private String wmsUrl;
@Value("${wms.inboundTaskApplyPath}")
private String inboundTaskApplyPath;
- @Value("${wms.movePath}")
- private String movePath;
@Value("${wms.taskStatusFeedbackPath}")
private String taskStatusFeedbackPath;
- @Autowired
- private CrnController crnController;
+ @Value("${wms.rgvOpen}")
+ private boolean rgvOpen;
- public void generateStoreWrkFile() throws IOException, InterruptedException {
+ @Value("${constant-parameters.trackEntireLength}")
+ private Long trackEntireLength;
+
+ @Value("${constant-parameters.trackBenchmark}")
+ private Long trackBenchmark;
+
+ @Value("${constant-parameters.trackProportion}")
+ private Long trackProportion;
+
+ @Value("${constant-parameters.avoidDistance}")
+ private Long avoidDistance;
+
+ public void generateStoreWrkFile() {
try {
-
-
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
@@ -117,8 +119,8 @@
} else {
staProtocol = staProtocol.clone();
}
- Short workNo = staProtocol.getWorkNo();
- Short stano = staProtocol.getStaNo();
+ Integer workNo = staProtocol.getWorkNo();
+ Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
@@ -164,7 +166,7 @@
}
// News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(inSta.getStaNo().shortValue());
+ staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -199,8 +201,8 @@
log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
return;
}else {
- staProtocol.setWorkNo(taskWrk1.getWrkNo().shortValue());
- staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
+ staProtocol.setWorkNo(taskWrk1.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -232,8 +234,8 @@
// 閫�鍥�
log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e1);
}
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(inSta.getStaNo().shortValue());
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -286,8 +288,8 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+errMsg);
log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅"+e);
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(inSta.getStaNo().shortValue());
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -341,8 +343,8 @@
taskWrkService.insert(taskWrk);
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
- staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
- staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -355,8 +357,8 @@
// 閫�鍥�
log.error("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(inSta.getStaNo().shortValue());
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -377,15 +379,33 @@
}
}
-
/**
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
public void crnStnToOutStn() {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) { continue; }
+ BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crnSlave.getId());
+ continue;
+ }
+ if (!crnSlave.getId().equals(crnProtocol.getLaneNo())){
+ for (CrnSlave crnOther : slaveProperties.getCrn()) {
+ if (crnOther.getId().equals(crnProtocol.getLaneNo())){
+ crnSlave.updateCrnInStn(crnOther);
+ }
+ }
+ }
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
+
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnSlave.getId()).eq("LANE_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
+// List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("").eq("crn_stn", crnStn.getStaNo()));
for (StaDesc staDesc : staDescs){
try{
// 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -398,14 +418,14 @@
}
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
// 鏌ヨ宸ヤ綔妗�
- TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
+ TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
if (taskWrk == null) {
continue;
}
log.info("涓嬪彂杈撻�佺嚎浠诲姟锛歵askWrk:"+JSON.toJSONString(taskWrk));
// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
- staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
- staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
boolean offer = false;
try{
offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -451,6 +471,14 @@
continue;
}
+ if (!crn.getId().equals(crnProtocol.getLaneNo())){
+ for (CrnSlave crnOther : slaveProperties.getCrn()) {
+ if (crnOther.getId().equals(crnProtocol.getLaneNo())){
+ crn.updateCrnInStn(crnOther);
+ }
+ }
+ }
+
// 搴撲綅绉昏浆
this.locToLoc(crn, crnProtocol);
@@ -487,7 +515,7 @@
*/
public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", slave.getId()).eq("LANE_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
for (StaDesc staDesc : staDescs) {
boolean flag = false;
// 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
@@ -513,7 +541,7 @@
}
// 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
+ TaskWrk taskWrk = taskWrkMapper.selectPakIn(crnProtocol.getLaneNo(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
if(null == taskWrk) {
continue;
}
@@ -524,7 +552,7 @@
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
continue;
}
@@ -572,7 +600,8 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(staDesc.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setCrnNo(staDesc.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
@@ -633,15 +662,17 @@
* 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
*/
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
- List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
+ List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), null);
if (taskWrksInitial.size()==0){
return;
}
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", slave.getId()).eq("LANE_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
+
+// List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnProtocol.getLaneNo()).eq("crn_stn", crnStn.getStaNo()));
for (StaDesc staDesc : staDescs){
// 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
- List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
+ List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(),staDesc.getStnNo().toString());
for (TaskWrk taskWrk : taskWrks){
if (taskWrk == null) {
continue;
@@ -678,12 +709,13 @@
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
break;
}
CrnCommand command = new CrnCommand();
- command.setCrnNo(taskWrk.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ command.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
@@ -695,7 +727,7 @@
command.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
command.setCommand((short)1);
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
- log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(command));
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屽贩閬�={}锛屼换鍔℃暟鎹�={}",slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
}else{
try{
@@ -752,11 +784,12 @@
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
// 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
- List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
- .eq("\"crn_no\"",slave.getId())
- .eq("\"wrk_sts\"",11)
- .eq("\"io_type\"",3)
- .orderBy("\"io_pri\"",false));
+ List<TaskWrk> taskWrks = taskWrkMapper.selectList(
+ new EntityWrapper<TaskWrk>()
+ .eq("CRN_NO",crnProtocol.getLaneNo())
+ .eq("WRK_STS",11)
+ .eq("IO_TYPE",3)
+ .orderBy("IO_PRI",false));
for (TaskWrk taskWrk : taskWrks){
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
@@ -773,7 +806,7 @@
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
continue;
}
@@ -794,6 +827,7 @@
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
@@ -861,12 +895,20 @@
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) { continue; }
+ if (!crn.getId().equals(crnProtocol.getLaneNo())){
+ for (CrnSlave crnOther : slaveProperties.getCrn()) {
+ if (crnOther.getId().equals(crnProtocol.getLaneNo())){
+ crn.updateCrnInStn(crnOther);
+ }
+ }
+ }
+
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
//鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
+ TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(),crnProtocol.getTaskNo().intValue());
if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+ log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽贩閬撳彿={}锛屽伐浣滃彿={}", crn.getId(),crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
continue;
}
Thread.sleep(300);
@@ -1105,23 +1147,331 @@
if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
}
-
-// } else if (param.getIoType() == 2) {
-// taskWrk.setWrkSts(11);
-// if (!Cools.isEmpty(param.getStartPoint())) {
-// taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//璧风偣
-// taskWrk.setOriginStartPoint(param.getStartPoint());
-// }
-// taskWrk.setTargetPoint(param.getTargetPoint());
-// }else if (param.getIoType() == 3){
-// taskWrk.setWrkSts(11);
-// if (!Cools.isEmpty(param.getStartPoint())) {
-// taskWrk.setStartPoint(param.getStartPoint());//璧风偣
-// taskWrk.setOriginStartPoint(param.getStartPoint());
-// }
}
return taskWrk;
}
+ public String rgvOtherTaskWrk(RgvSlave slave){
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (!allTaskProtocol.isEmpty()){
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ if (taskProtocol.getTaskNo() != 0 ){
+ return taskProtocol.getTaskNo().toString();
+ }
+ }
+ }
+ return "鏃�";
+
+ }
+ public boolean rgvDetection(RgvSlave slave){
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol ==null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
+ || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable){
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public TaskWrk deviceDetection(RgvSlave.RgvStn inSta){
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null){
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.isAutoing()
+// && staProtocol.isLoading()
+ && staProtocol.getWorkNo()!=0) {
+ TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
+ if (taskWrk!=null){
+ return taskWrk;
+ }
+ }
+ return null;
+ }
+
+ public boolean rgvOtherStatusEnable(RgvSlave slave){
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable){
+// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
+ return true;
+// }
+ }
+ return false;
+ }
+
+ public synchronized void taskStart() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try{
+ if (rgvDetection(rgvSlave)){
+ String taskNoNow = rgvOtherTaskWrk(rgvSlave);
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
+ boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
+ if (basDevpPositions.isEmpty()) {
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ continue;
+ }
+ List<TaskWrk> taskWrkList = new ArrayList<>();
+ List<Integer> staList = new ArrayList<>();
+ for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()){
+ TaskWrk taskWrk = deviceDetection(inSta);
+ if (taskWrk!=null){
+ if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
+ taskWrkList.add(taskWrk);
+ staList.add(inSta.getStaNo());
+ }
+ }
+
+ if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
+
+ boolean sign = false;
+
+ if (rgvOtherStatusEnable(rgvSlave)){
+ //鍒嗘垚涓婁笅涓ら儴鍒嗕换鍔�
+ List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions,itSmall);
+ List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
+ List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
+ List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
+
+ //鎵�灞為儴鍒嗗氨杩涘彇璐�
+
+ //绛涢�夎寖鍥村唴浠诲姟
+ //灏辫繎鎺掑簭
+ //绛涢�夊湪鑼冨洿浠诲姟
+ 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){
+ 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);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ if (!sign){
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+
+ if (!sign){
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ 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);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ if (!sign){
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ if (!sign){
+ // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
+ for (Integer staNoNow : rangeListOther){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ 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);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ } else {
+ //鍙敤鍖哄煙灏辫繎鍙栬揣
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}",e.getMessage());
+ }
+ }
+ }
+ //鑾峰彇璧风偣涓庣粓鐐瑰璞�
+ public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave,Integer staNo) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNo)){
+ return rgvStn;
+ }
+ }
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
+ if (rgvStn.getStaNo().equals(staNo)){
+ return rgvStn;
+ }
+ }
+ return null;
+ }
+
+ //鑾峰彇璧风偣涓庣粓鐐瑰璞�
+ public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave,Integer souSta,Integer endSta) {
+ RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(souSta)){
+ rgvStns[0] = rgvStn;
+ }
+ }
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
+ if (rgvStn.getStaNo().equals(endSta)){
+ rgvStns[1] = rgvStn;
+ }
+ }
+ return rgvStns;
+ }
+
+ public boolean taskGenerate(RgvSlave rgvSlave,RgvSlave.RgvStn rgvStn,Integer sign) {
+ try{
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ TaskProtocol issuedTake = new TaskProtocol();
+ TaskProtocol issuedPut = new TaskProtocol();
+ try{
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (allTaskProtocol.size() > 0){
+ return false;
+ }
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk == null){
+ return false;
+ }
+ Integer targetPointConvert = taskWrk.getTargetPointConvert();
+ if (targetPointConvert == null){
+ return false;
+ }
+ RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
+ if (rgvStnEnd == null){
+ return false;
+ }
+
+ BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
+ BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
+ //鎵ц
+ issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
+ issuedTake.setTaskStatus(1);
+ issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(),issuedTake.getTaskStatus()));
+ issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
+ issuedTake.setIsRunning(1);
+ issuedTake.setDirection(rgvStn.isDirection());
+
+
+ issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
+ issuedPut.setTaskStatus(2);
+ issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(),issuedPut.getTaskStatus()));
+ issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
+ issuedPut.setIsRunning(1);
+ issuedPut.setDirection(rgvStnEnd.isDirection());
+ }catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}",e.getMessage());
+ return false;
+ }
+
+ switch (sign){
+ case 1:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ break;
+ case 2:
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
+ default:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触issued2===銆嬪紓甯镐俊鎭細{}",e.getMessage());
+ }
+ return true;
+ }
+
+
}
--
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