From 6be77dcf31e3c9d7233b36d8e9d22c4d1d802f3e Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期六, 07 六月 2025 17:18:13 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 263 ++++++++++++++++++++++++++-------------------------
1 files changed, 134 insertions(+), 129 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 6769ec8..c5d84c1 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -94,29 +94,16 @@
return false;
}
-
/**
* 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
*/
- public synchronized void updateStePositionNearby() {
+ public synchronized int[][] getStePositionNearby(Integer siteNo) {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
- if (wrkMasts.isEmpty()) {
- return;
- }
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�");
- return;
+ return null;
}
-// List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
-// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
-// Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
-// if (siteNo == null) {
-// log.error("灏辫繎瀵嗛泦鍘熷垯鑾峰彇绔欑偣澶辫触");
-// return;
-// }
- Integer siteNo = 110;
Long sitePosition = 0L;
for (BasDevpPosition basDevpPosition : basDevpPositions) {
if (basDevpPosition.getDevNo().equals(siteNo)) {
@@ -139,37 +126,29 @@
Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
if (rgvNo == -1) {
log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
- return;
+ return null;
}
List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
- if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
- return;
- }
-
int[][] ints = new int[basCircularShuttleList.size()][2];
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
+ }
+ if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
+ return ints;
}
// String[] oldList = new String[ints.length];
// for (int[] rgv : ints){
// oldList[rgv[0]-1] = Arrays.toString(rgv);
// }
int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
-// String[] newList = new String[rgvList.length];
-// for (int[] rgv : rgvList){
-// newList[rgv[0]-1] = Arrays.toString(rgv);
-// }
+ return rgvList;
-// log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
- basCircularShuttle.setRgvId(rgv[1]);
- basCircularShuttleService.updateById(basCircularShuttle);
- }
} catch (Exception e) {
log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細" + e);
}
+ return null;
+
}
/**
@@ -227,22 +206,24 @@
/**
* 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
*/
- public synchronized void DevpTaskNoRun() {
+ public synchronized List<List<List<WrkMast>>> DevpTaskNoRun() {
+ List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
+
try {
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
if (wrkMasts.isEmpty()) {
- return;
+ return wrkMastListAll;
}
long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
if (differenceInSeconds <= 1000) {
- return;
+ return wrkMastListAll;
}
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;
+ return wrkMastListAll;
}
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
@@ -251,13 +232,16 @@
BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll,basDevpPositionsListUN);
+ return 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);
}
+ return wrkMastListAll;
+
+
}
//鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
@@ -479,72 +463,87 @@
// }
// }
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;
long devperimeter = 0L;
- for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
- 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;
+ try{
+ for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
+ List<Integer> rgvNoRN = new ArrayList<>();
+ runRgv:
+ for (List<WrkMast> wrkMastList : wrkMastLists) {
+ for (WrkMast wrkMast : wrkMastList) {
+
+ int[][] stePositionNearby = getStePositionNearby(wrkMast.getSourceStaNo());
+ if (stePositionNearby==null){
+ break runRgv;
}
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
- if (!wrkMasts.isEmpty()) {
- continue;
+ int[] rgvListRun = new int[stePositionNearby.length];
+ for (int[] rgvNo:stePositionNearby){
+ rgvListRun[rgvNo[0]-1] = rgvNo[1];
}
- if (rgvProtocol != null
- && rgvProtocol.modeType == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
- && rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getAlarm() == 0) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
- if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
- if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
- if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
- rgvNoM.add(rgvProtocol.getRgvNo());
- if (wrkMastRunCount == 0){
- devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
- }
- wrkMastRunCount++;
- break;
- }
- continue ;
- }
- } else {
- if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
- if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
- rgvNoM.add(rgvProtocol.getRgvNo());
- if (wrkMastRunCount == 0){
- devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
- }
- wrkMastRunCount++;
- break;
- }
- continue ;
- }
+
+ for (int rgvNo : rgvListRun){
+ if (rgvNoRN.contains(rgvNo)){
+ continue;
}
- 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);
- if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
+ if (basCircularShuttle.getStatus() != 0){
+ continue ;
+ }
+ long rgvId = basCircularShuttle.getRgvId();
+
+ 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) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+ if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
+ if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
+ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
+ rgvNoM.add(rgvProtocol.getRgvNo());
+ rgvNoRN.add(rgvProtocol.getRgvNo());
+ if (wrkMastRunCount == 0){
+ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
+ }
+ wrkMastRunCount++;
+ break;
+ }
+ continue ;
+ }
+ } else {
+ if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
+ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
+ rgvNoM.add(rgvProtocol.getRgvNo());
+ rgvNoRN.add(rgvProtocol.getRgvNo());
+ if (wrkMastRunCount == 0){
+ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
+ }
+ wrkMastRunCount++;
+ break;
+ }
+ continue ;
+ }
+ }
+
+ 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);
+ 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");
@@ -553,52 +552,58 @@
// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
//
// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
- continue;
+ continue;
// }
+ }
}
- }
- if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
- rgvNoR.add(rgvProtocol.getRgvNo());
- } else {
- continue ;
- }
+ rgvNoRN.add(rgvProtocol.getRgvNo());
+ if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
+ rgvNoR.add(rgvProtocol.getRgvNo());
+ } else {
+ 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));
- wrkMast.setLogErrTime(new Date());
- wrkMast.setLogErrMemo("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={"+rgvId+"}===>璺宠繃");
- wrkMastService.updateById(wrkMast);
+ 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));
+ wrkMast.setLogErrTime(new Date());
+ wrkMast.setLogErrMemo("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={"+rgvId+"}===>璺宠繃");
+ wrkMastService.updateById(wrkMast);
+ 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;
}
- 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;
}
}
}
}
+
+ } 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));
+ return;
}
try{
for (Integer rgvNo : rgvNoM){
--
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