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 | 274 ++++++++++++++++++++++++++++++------------------------
1 files changed, 154 insertions(+), 120 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 441f1e3..8fda140 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -384,9 +384,28 @@
*/
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
@@ -399,7 +418,7 @@
}
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;
}
@@ -452,6 +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);
@@ -488,7 +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
@@ -514,7 +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;
}
@@ -525,7 +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;
}
@@ -573,7 +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
@@ -634,15 +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;
@@ -679,12 +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
@@ -696,7 +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{
@@ -755,7 +786,7 @@
// 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("CRN_NO",crnProtocol.getLaneNo())
.eq("WRK_STS",11)
.eq("IO_TYPE",3)
.orderBy("IO_PRI",false));
@@ -775,7 +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;
}
@@ -796,6 +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
@@ -863,12 +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);
@@ -1183,74 +1223,7 @@
return false;
}
- public boolean deviceRgvDetection(Integer startSta,RgvSlave rgvSlave,Integer endSta){
- BasDevpPosition basDevpPositionStartSta = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", startSta));
- if (basDevpPositionStartSta == null){
- return false;
- }
-
- BasDevpPosition basDevpPositionEndSta = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", endSta));
- if (basDevpPositionEndSta == null){
- return false;
- }
-
- DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, basDevpPositionEndSta.getPlcId());
- StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(endSta);
- if (staProtocolEnd == null){
- return false;
- }
- // 鍒ゆ柇鏄惁婊¤冻鏀捐揣鏉′欢
- if (!staProtocolEnd.isAutoing() || staProtocolEnd.isLoading()) {
- return false;
- }
-
- if (!rgvDetection(rgvSlave)){
- return false;
- }
-
- // a褰撳墠 b other
- // b鍙敤
- // b鏃犱换鍔�
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- //鍒囨崲B
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- //b 鏈変换鍔�
- // 鍙敤鍖哄煙浠诲姟
- // 鍙敤鍖哄煙浠诲姟鍐呭彇璐т换鍔�
- //
- // b绂佺敤
- // 鍏ㄥ尯鍩熶换鍔� 灏辫繎鍙栬揣
-
-
- return false;
- }
-
public synchronized void taskStart() {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- try{
- if (rgvDetection(rgvSlave)){
- for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()){
- TaskWrk taskWrk = deviceDetection(inSta);
- if (taskWrk!=null){
- if (deviceRgvDetection(inSta.getStaNo(),rgvSlave,taskWrk.getTargetPointConvert())){
- RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
-
-
- }
- }
- }
- }
- } catch (Exception e){
- log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}",e.getMessage());
- }
- }
- }
-
- public synchronized void DevpTaskNoRun() {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
try{
if (rgvDetection(rgvSlave)){
@@ -1272,69 +1245,130 @@
}
}
+ 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.avoidRange(staList, basDevpPositions);
+ 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);
- if (taskNoNow.equals("鏃�")){ //b 鏃犱换鍔�
- //鎵�灞為儴鍒嗗氨杩涘彇璐�
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- boolean sign = false;
+ //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);
+ }
}
- }
- }
- }
- 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){
+ 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)){
-
- break;
- }
- }
- if (sign){
+ }
+ 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;
+ }
}
- //鍒囨崲B
- continue;
- } else {//b 鏈変换鍔�
-
- // 鍙敤鍖哄煙浠诲姟
- // 鍙敤鍖哄煙浠诲姟鍐呭彇璐т换鍔�
- //鍒囨崲B
-
- continue;
+ }
+ 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){
--
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