From 4d9e2ea59aa2e9fbdcacd3d8d8dfd543a2fccba5 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期五, 23 一月 2026 13:53:06 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 171 ++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 163 insertions(+), 8 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 e75980e..bb2a5dc 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -703,11 +703,12 @@
} else {
staProtocol = staProtocol.clone();
}
- if (!staProtocol.isAutoing() || staProtocol.isLoading()) {
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()) {
continue;
}
TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
if (taskWrk == null) {
+ log.info("鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯锛氭湭鏌ヨ鍒扮姸鎬佷负13鐨勪换鍔′俊鎭紝绔欑偣鍙�:" + staDesc.getStnNo().toString());
continue;
}
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0 || staProtocol.getWorkNo().equals(taskWrk.getWrkNo()))) {
@@ -1764,7 +1765,7 @@
ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
if (!allTaskProtocol.isEmpty()) {
for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
- if (taskProtocol.getTaskNo() != 0) {
+ if (taskProtocol.getTaskNo() != 0 && taskProtocol.getTaskNo()!=32222L) {
return taskProtocol.getTaskNo().toString();
}
}
@@ -2043,6 +2044,16 @@
}
return null;
}
+ public TaskWrk deviceDetectionGetWrkNo(RgvSlave.RgvStn inSta) {
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null || Cools.isEmpty(staProtocol.getWorkNo())) {
+ return null;
+ }
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
+ return taskWrk;
+ }
public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
add(1009);
@@ -2106,6 +2117,7 @@
public synchronized void taskStart() {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
try {
+ Thread.sleep(101);
if (rgvDetection(rgvSlave)) {
String taskNoNow = rgvOtherTaskWrk(rgvSlave);
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
@@ -2121,10 +2133,12 @@
}
List<TaskWrk> taskWrkList = new ArrayList<>();
List<Integer> staList = new ArrayList<>();
+ List<String> taskNoList = taskStartRepel();
for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
TaskWrk taskWrk = deviceDetection(inSta);
if (taskWrk != null) {
if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
+ if (!taskNoList.contains(taskWrk.getWrkNo().toString())) continue;
taskWrkList.add(taskWrk);
staList.add(inSta.getStaNo());
}
@@ -2156,9 +2170,10 @@
if (rgvOtherIDLEOther(rgvSlave)){
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
System.out.println("绌洪棽灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
- RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"绌洪棽灏辫繎璺宠繃");
-
- sign=true;
+ if (itSmall){
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"绌洪棽灏辫繎璺宠繃");
+ sign=true;
+ }
}
}
if (sign){
@@ -2237,9 +2252,10 @@
if (rgvOtherIDLEOther2(rgvSlave)){
if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
System.out.println("杩愯灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
- RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"杩愯灏辫繎璺宠繃");
-
- sign=true;
+ if (itSmall){
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"杩愯灏辫繎璺宠繃");
+ sign=true;
+ }
}
}
if (sign){
@@ -2442,6 +2458,145 @@
}
}
+ public List<String> taskStartRepel() {
+ ArrayList<String> arrayListOld = new ArrayList<>();
+ ArrayList<String> arrayListNew = new ArrayList<>();
+ ArrayList<Integer> arrayListAllP = new ArrayList<>();
+ ArrayList<Long[]> arrayListAll = new ArrayList<>();
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try{
+ boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
+ String taskNoNow = rgvOtherTaskWrk(rgvSlave);
+ if (taskNoNow.equals("鏃�")){
+ continue;
+ }
+ if (!arrayListOld.contains(taskNoNow)){
+ arrayListOld.add(taskNoNow);
+ }
+
+ TaskWrk taskWrk = taskWrkMapper.selectByTaskNo(taskNoNow);
+ if (taskWrk != null) {
+ if (!arrayListAllP.contains(taskWrk.getWrkNo())) {
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ arrayListAllP.add(taskWrk.getWrkNo());
+ long startP = 0;
+ if (!itSmall){
+ startP = System.currentTimeMillis();
+ }
+
+ long endP = 0;
+ long endP1 = 0;
+ long endP2 = 0;
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ if (taskProtocol.getTaskStatus() == 2){//鍙�
+ endP1 = taskProtocol.getTargetPosition();
+ } else if (taskProtocol.getTaskStatus() == 3){//鏀�
+ endP2 = taskProtocol.getTargetPosition();
+ }
+ }
+ if (endP1 > endP2){
+ if (itSmall){
+ endP = endP1;
+ } else {
+ endP = endP2;
+ }
+ }
+ if (endP == 0){
+ if (itSmall){
+ endP = System.currentTimeMillis();
+ }
+ }
+ Long[] longList = {taskWrk.getWrkNo().longValue(),startP,endP};
+ arrayListAll.add(longList);
+ }
+ } else {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ try {
+ long startP = 0;
+ long endP = 0;
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ if (taskProtocol.getTaskStatus() == 2){//鍙�
+ startP = taskProtocol.getTargetPosition();
+ } else if (taskProtocol.getTaskStatus() == 3){//鏀�
+ endP = taskProtocol.getTargetPosition();
+ }
+ }
+ if (startP == 0 ){
+ if (!itSmall){
+ startP = System.currentTimeMillis();
+ }
+ }
+ if (endP == 0){
+ if (itSmall){
+ endP = System.currentTimeMillis();
+ }
+ }
+// taskNoNow
+ long parseLong = Long.parseLong(taskNoNow);
+ Long[] longList = {parseLong,startP,endP};
+ arrayListAll.add(longList);
+
+ } catch (Exception e) {
+ log.error("浠诲姟杩囨护鏌ヨ灏忚溅鎵ц浠诲姟寮傚父锛�"+e.getMessage());
+ return new ArrayList<>();
+ }
+ }
+
+ } catch (Exception e) {
+ }
+ }
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ if (rgvDetection(rgvSlave)) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ TaskWrk taskWrk = deviceDetectionGetWrkNo(rgvStn);
+ if (taskWrk != null) {
+ if (!arrayListAllP.contains(taskWrk.getWrkNo())) {
+ arrayListAllP.add(taskWrk.getWrkNo());
+ BasDevpPosition basDevpPositionSta = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
+ BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ Long[] longList = {taskWrk.getWrkNo().longValue(),basDevpPositionSta.getPlcPosition(),basDevpPositionEnd.getPlcPosition()};
+ arrayListAll.add(longList);
+ }
+ }
+ }
+ }
+ }
+ List<Long[]> crossingPathsW = TrackUtils.findCrossingPathsW(arrayListAll);
+ List<Long> wrkNoList = new ArrayList<>();
+ List<Long> signWrk = new ArrayList<>();
+ for (Long[] longList : crossingPathsW) {
+ if (arrayListOld.contains(longList[0].toString()) || arrayListOld.contains(longList[1].toString())){
+ signWrk.add(longList[0]);
+ signWrk.add(longList[1]);
+ continue;
+ }
+ if (!wrkNoList.contains(longList[0]) && !signWrk.contains(longList[0])) {
+ if (!wrkNoList.contains(longList[1]) && !signWrk.contains(longList[1])) {
+ wrkNoList.add(longList[0]);
+ }
+ }
+ signWrk.add(longList[0]);
+ signWrk.add(longList[1]);
+ }
+ for (Integer str : arrayListAllP) {
+ if (!signWrk.contains(str.longValue())) {
+ arrayListNew.add(str.toString());
+ }
+ }
+ for (Long wrk : wrkNoList) {
+ arrayListNew.add(wrk.toString());
+ }
+
+ return arrayListNew;
+ }
+
//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()) {
--
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