From 8740b1c94ffd20b54b95962df886e43f722911c5 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 24 四月 2025 17:31:12 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 326 ++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 292 insertions(+), 34 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 c1c4edb..1fbc07a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -13,25 +13,24 @@
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.RgvStatusCache;
-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.CrnCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.RgvProtocol;
-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 lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -42,6 +41,7 @@
import java.io.IOException;
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�
@@ -80,6 +80,8 @@
private CommonService commonService;
@Autowired
private CrnController crnController;
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
@Value("${wms.url}")
private String wmsUrl;
@@ -99,6 +101,9 @@
@Value("${constant-parameters.trackProportion}")
private Long trackProportion;
+
+ @Value("${constant-parameters.avoidDistance}")
+ private Long avoidDistance;
public void generateStoreWrkFile() {
try {
@@ -1106,25 +1111,63 @@
return taskWrk;
}
- public boolean deviceDetection(RgvSlave slave){
+ 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());
- if (rgvProtocol == null) {
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol ==null) {
return false;
}
- if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
+ 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)) {
+ 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){
@@ -1134,42 +1177,257 @@
}
if (rgvProtocolOther.statusEnable){
// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
- return true;
+ return true;
// }
}
return false;
}
-
- private void sc(){
-
-
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ public synchronized void taskStart() {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- if (!deviceDetection(rgvSlave)){
- continue;
- }
- RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ 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());
+ }
+ }
- RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
+ if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
- //姹傚嚭褰撳墠杞﹀彲杩愯鑼冨洿
- Long[] farthestPoint = new Long[]{0L,0L};
- if (!rgvProtocolOther.statusEnable){
- farthestPoint = new Long[]{0L,0L};
- } else {
- if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){
+ 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);
+ 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
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
+ //绛涢�夊湪鑼冨洿浠诲姟
+ List<Integer> belongToRange = RouteUtils.belongToRange(rangeList, rgvProtocolOther.getRgvPosDestination(), basDevpPositions);
+ for (Integer staNoNow : belongToRange){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ 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){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ 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){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ 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;
+ }
+ }
+ }
}
- }
-
-
- // 閬嶅巻鍏ュ簱鍙�
- for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSStn()) {
-
+ } 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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