From 98ba81630f3192aaa4b7fbb67596c3154d05d7d3 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 05 六月 2025 20:31:25 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 9 +
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 403 +++++++++++++++++++++++++++++++++++---------------
src/main/resources/mapper/BasDevpPositionMapper.xml | 1
src/main/java/com/zy/asrs/entity/BasDevpPosition.java | 4
src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java | 25 +++
src/main/resources/application.yml | 5
6 files changed, 325 insertions(+), 122 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/BasDevpPosition.java b/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
index 6a42c43..22d2729 100644
--- a/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
+++ b/src/main/java/com/zy/asrs/entity/BasDevpPosition.java
@@ -34,6 +34,10 @@
@TableField("plc_position")
private Long plcPosition;
+ @ApiModelProperty(value= "")
+ @TableField("dev_region")
+ private Integer devRegion;
+
public BasDevpPosition() {}
public BasDevpPosition(Integer devNo,Integer plcId,Long plcPosition) {
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 73d82ce..89115d2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -58,6 +58,8 @@
@Autowired
private CommonService commonService;
+ @Value("${constant-parameters.taskRunPerimeter}")
+ private Long taskRunPerimeter;
@Value("${constant-parameters.perimeter}")
private Long perimeter;
@Value("${constant-parameters.proportion}")
@@ -107,13 +109,14 @@
log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
return;
}
- 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;
- }
+// 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)) {
@@ -242,15 +245,52 @@
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));
Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
- List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
+ List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
+// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
+ List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll,basDevpPositionsListUN);
//涓嬪彂浠诲姟
- taskDown(wrkMastLists);
+// 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);
}
+ }
+
+ //鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
+ public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
+ List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
+ for (List<Integer> siteList : siteListAll){
+ List<List<WrkMast>> wrkMastLists = new ArrayList<>();
+ try {
+ List<WrkMast> wrkMastlistA = new ArrayList<>();
+ List<WrkMast> wrkMastlistB = new ArrayList<>();
+ for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
+ List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
+ for (WrkMast wrkMast : wrkMastList) {
+ if (!Cools.isEmpty(wrkMast)) {
+ if (siteList.contains(wrkMast.getSourceStaNo())){
+ if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
+ wrkMastlistA.add(wrkMast);
+ } else {
+ wrkMastlistB.add(wrkMast);
+ }
+ }
+ }
+ }
+ }
+ wrkMastLists.add(wrkMastlistA);
+ wrkMastLists.add(wrkMastlistB);
+// return wrkMastLists;
+ wrkMastListAll.add(wrkMastLists);
+ } catch (Exception e) {
+ log.error("鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃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
@@ -280,41 +320,212 @@
}
}
- 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++;
+// 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) {
+ for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
+ int wrkMastRunCount = 0;
+ int wrkMastCount = 0;
+ long rgvId = 0;
+ for (List<WrkMast> wrkMastList : wrkMastLists) {
+ for (WrkMast wrkMast : wrkMastList) {
+ wrkMastCount++;
+ }
+ }
+ 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;
- }
+ 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);
+ 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 ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+ if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
+ if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
+ if (wrkMastRunCount<wrkMastCount){
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
+ log.error("RGV婕父鍚姩鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, "婕父鎸囦护");
+ break runRgv;
+ }
+ wrkMastRunCount++;
+ continue ;
+ }
+ }
+ break runRgv;
+ }
+ } else {
+ if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
+ if (wrkMastRunCount<wrkMastCount){
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
+ log.error("RGV婕父鍚姩鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, "婕父鎸囦护");
+ break runRgv;
+ }
+ wrkMastRunCount++;
+ continue ;
+ }
+ }
+ break runRgv;
+ }
+ }
+
+
+ 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");
@@ -325,88 +536,40 @@
// 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));
+
+
+ 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);
+ wrkMastCount--;
+ 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;
- } 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;
}
}
}
diff --git a/src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java b/src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java
index d586715..f56f198 100644
--- a/src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java
+++ b/src/main/java/com/zy/asrs/utils/SortTheExecutionOfTheCarUtil.java
@@ -3,6 +3,7 @@
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.WrkMast;
import com.zy.core.enums.RouteCollectCountType;
+import org.apache.xmlbeans.impl.xb.xsdschema.All;
import java.util.*;
@@ -206,6 +207,30 @@
}
//閫嗗簭鎺掑垪
+ public static List<List<Integer>> siteListAll(List<BasDevpPosition> devpPosition){
+ List<List<Integer>> sitePositions = new ArrayList<>();
+ Integer[] integers = new Integer[devpPosition.size()];
+ List<Integer> devRegions = new ArrayList<>();
+ int i = 0;
+ for (BasDevpPosition basDevpPosition : devpPosition){
+ if (basDevpPosition.getDevRegion()==0){
+ continue;
+ }
+ if (!devRegions.contains(basDevpPosition.getDevRegion())){
+ devRegions.add(basDevpPosition.getDevRegion());
+ integers[basDevpPosition.getDevRegion()] = i;
+ i++;
+ List<Integer> sitePosition = new ArrayList<>();
+ sitePosition.add(basDevpPosition.getDevNo());
+ sitePositions.add(sitePosition);
+ } else {
+ sitePositions.get(integers[basDevpPosition.getDevRegion()]).add(basDevpPosition.getDevNo());
+ }
+ }
+ return sitePositions;
+ }
+
+ //閫嗗簭鎺掑垪
public static boolean devpNoSortbj(BasDevpPosition[] devpPosition,Integer souDevpNo,Integer endDevpNo){
int sou = 0;
int end = 0;
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 892093a..8a420d6 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -134,6 +134,10 @@
command4.setDestinationStaNo1((short)0); // 鐩爣绔�
write3(command4);
break;
+ // 婕父
+ case 5:
+ write5();
+ break;
default:
break;
}
@@ -357,6 +361,11 @@
return false;
}
}
+ private void write5(){
+ try {
+ siemensNet.Write("DB24.10.0", false);
+ } catch (Exception ignore) {}
+ }
private boolean write3(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 7b4f668..80cf2b1 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -8,8 +8,8 @@
name: @pom.build.finalName@
datasource:
driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
-# url: jdbc:sqlserver://127.0.0.1:50751;databasename=gdhmasrs
- url: jdbc:sqlserver://127.0.0.1:50948;databasename=gdhmasrs
+ url: jdbc:sqlserver://127.0.0.1:50751;databasename=gdhmasrs
+# url: jdbc:sqlserver://127.0.0.1:50948;databasename=gdhmasrs
username: sa
password: sa@123
mvc:
@@ -49,6 +49,7 @@
constant-parameters:
# 杞ㄩ亾鎬婚暱
perimeter: 1737000
+ taskRunPerimeter: 100000
# 杞ㄩ亾杞崲涓虹背姣斾緥
proportion: 10000
# 鍔犻�熷害 m/s^2
diff --git a/src/main/resources/mapper/BasDevpPositionMapper.xml b/src/main/resources/mapper/BasDevpPositionMapper.xml
index 4426705..e591de3 100644
--- a/src/main/resources/mapper/BasDevpPositionMapper.xml
+++ b/src/main/resources/mapper/BasDevpPositionMapper.xml
@@ -8,6 +8,7 @@
<result column="dev_no" property="devNo" />
<result column="plc_id" property="plcId" />
<result column="plc_position" property="plcPosition" />
+ <result column="dev_region" property="devRegion" />
</resultMap>
--
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