From 5026865596b57287aefc72acdc9938bc0d93dbec Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期日, 22 六月 2025 15:35:27 +0800
Subject: [PATCH] #改造
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 233 ++++++++++++++++++++--------------------------------------
1 files changed, 81 insertions(+), 152 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 c5d84c1..ac4aa17 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -80,8 +80,8 @@
private boolean reportSwitchAuto;
/*
- * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
- * */
+ * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
+ * */
public synchronized boolean licenseVerify() {
try{
// if (true) {
@@ -206,24 +206,23 @@
/**
* 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
*/
- public synchronized List<List<List<WrkMast>>> DevpTaskNoRun() {
- List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
+ 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 wrkMastListAll;
+ return;
}
long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
if (differenceInSeconds <= 1000) {
- return wrkMastListAll;
+ 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();
if (rgvProtocol == null) {
- return wrkMastListAll;
+ return;
}
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
@@ -232,15 +231,13 @@
BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- return getWrkMastListAll(siteListAll,basDevpPositionsListUN);
+ List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll, basDevpPositionsListUN);
//涓嬪彂浠诲姟
// taskDown(wrkMastLists);
-
+ taskDown(wrkMastListAll);
} catch (Exception e) {
- log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
+ log.error("鑷姩涓嬪彂灏忚溅浠诲姟澶辫触锛屽紓甯革細" + e);
}
- return wrkMastListAll;
-
}
@@ -330,140 +327,7 @@
}
}
-// public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
-// long rgvId = 0;
-// runRgv:
-// for (List<WrkMast> wrkMastList : wrkMastLists) {
-// for (WrkMast wrkMast : wrkMastList) {
-// while (rgvId <= rgvCount) {
-// rgvId++;
-//// log.info("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
-// if (rgvId > rgvCount) {
-// break runRgv;
-// }
-// BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
-// if (basCircularShuttle.getStatus() != 0){
-// continue ;
-// }
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
-// continue;
-// }
-//
-// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
-// if (!wrkMasts.isEmpty()) {
-// continue;
-// }
-// if (rgvProtocol != null
-// && rgvProtocol.modeType == RgvModeType.AUTO
-// && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
-// && rgvProtocol.getTaskNo1() == 0
-// && rgvProtocol.getAlarm() == 0) {
-// if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
-// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
-// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
-// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
-// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
-//// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
-//// if (basDevpPositions.isEmpty()) {
-//// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
-//// break runRgv;
-//// }
-//// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
-////
-//// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
-// continue;
-//// }
-// }
-// }
-// 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
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
-// //
-// 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.info("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());
-// Date now = new Date();
-// wrkMast.setAppeTime(now);
-// wrkMast.setCrnStrTime(now);
-// try {
-// wrkMastService.updateById(wrkMast);
-// break;
-// } catch (Exception e) {
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
-// }
-// break runRgv;
-// } else if (rgvProtocol != null
-// && rgvProtocol.modeType == RgvModeType.AUTO
-// && rgvProtocol.getStatusType() == RgvStatusType.WALK
-// && rgvProtocol.getTaskNo1() == 0
-// && rgvProtocol.getAlarm() == 0) {
-// if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
-// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
-// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
-// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
-// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
-//// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
-//// if (basDevpPositions.isEmpty()) {
-//// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
-//// break runRgv;
-//// }
-//// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
-////
-//// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
-// continue;
-//// }
-// }
-// }
-// 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.X_MOVE); // 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
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(3, rgvCommand))) {
-// //
-// 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.info("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());
-// Date now = new Date();
-// wrkMast.setAppeTime(now);
-// wrkMast.setCrnStrTime(now);
-// try {
-// wrkMastService.updateById(wrkMast);
-// break;
-// } catch (Exception e) {
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
-// }
-// break runRgv;
-// } else {
-// break runRgv;
-// }
-// }
-// }
-// }
-// }
public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {
-//0灏忚溅杞﹀彿 1灏忚溅缂栧彿
List<Integer> rgvNoM = new ArrayList<>();
List<Integer> rgvNoR = new ArrayList<>();
int wrkMastRunCount = 0;
@@ -510,6 +374,7 @@
&& rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getRgvPosInt() != 0
&& rgvProtocol.getAlarm() == 0) {
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
@@ -602,7 +467,7 @@
}
} catch (Exception e){
- log.error("RGV婕父鍚姩鍛戒护涓嬪彂澶辫触锛屼换鍔℃暟鎹�===> "+JSON.toJSON(wrkMastListAll));
+ log.error("RGV鍙栨斁璐у惎鍔ㄥ懡浠や笅鍙戝け璐ワ紝浠诲姟鏁版嵁===> "+JSON.toJSON(wrkMastListAll));
return;
}
try{
@@ -639,8 +504,8 @@
//浠诲姟瀹屾垚
public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
- try {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -651,7 +516,7 @@
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) {
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
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�
@@ -660,7 +525,7 @@
&& rgvProtocol.getTaskNo1() != 0
) {
// 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);
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMast);
continue;
@@ -712,10 +577,74 @@
}
} catch (Exception e){}
wrkMastService.updateById(wrkMast);
+ } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ){
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
}
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
}
- } catch (Exception e) {
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+ public synchronized void rgvCancelWrkMastSta() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) {
+ log.info("{}鍙峰皬杞︾瓑寰厀cs鍙栨秷锛岀姸鎬亄}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.CANCEL
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+
+ 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(rgvProtocol.getTaskNo1());
+ rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨秷
+ rgvCommand.setSourceStaNo1((short)-1); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1((short)-1); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setRgvSome((short) 1);
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
+ //
+ log.error("RGV鍙栨秷鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ continue;
+ }
+ log.info("RGV鍙栨秷鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
+ if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMast);
+ continue;
+ }
+
+ Date now = new Date();
+ wrkMast.setWrkSts(1L);
+ wrkMast.setRgvNo(0);
+ wrkMast.setAppeTime(now);
+ wrkMast.setLogErrTime(now);
+
+ wrkMast.setLogErrMemo("RGV鐢宠鍙栨秷浠诲姟锛孯GV鍙�={"+rgvProtocol.getRgvNo()+"}锛屽彇娑堟椂闂达細"+now);
+
+ wrkMastService.updateById(wrkMast);
+
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅鍙栨秷绾跨▼鎶ラ敊锛�" + e);
+ }
}
}
--
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