From 98f1c4c9ffbbb3347ad752821505bc3c70ea4efc Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期日, 27 四月 2025 10:52:50 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 210 +++++++++++++++++++++++++---------------------------
1 files changed, 101 insertions(+), 109 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 fa0501d..be3b65a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1183,74 +1183,7 @@
return false;
}
- public boolean deviceRgvDetection(Integer startSta,RgvSlave rgvSlave,Integer endSta){
- BasDevpPosition basDevpPositionStartSta = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", startSta));
- if (basDevpPositionStartSta == null){
- return false;
- }
-
- BasDevpPosition basDevpPositionEndSta = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", endSta));
- if (basDevpPositionEndSta == null){
- return false;
- }
-
- DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, basDevpPositionEndSta.getPlcId());
- StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(endSta);
- if (staProtocolEnd == null){
- return false;
- }
- // 鍒ゆ柇鏄惁婊¤冻鏀捐揣鏉′欢
- if (!staProtocolEnd.isAutoing() || staProtocolEnd.isLoading()) {
- return false;
- }
-
- if (!rgvDetection(rgvSlave)){
- return false;
- }
-
- // a褰撳墠 b other
- // b鍙敤
- // b鏃犱换鍔�
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- //鍒囨崲B
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- //b 鏈変换鍔�
- // 鍙敤鍖哄煙浠诲姟
- // 鍙敤鍖哄煙浠诲姟鍐呭彇璐т换鍔�
- //
- // b绂佺敤
- // 鍏ㄥ尯鍩熶换鍔� 灏辫繎鍙栬揣
-
-
- return false;
- }
-
public synchronized void taskStart() {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- try{
- if (rgvDetection(rgvSlave)){
- for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()){
- TaskWrk taskWrk = deviceDetection(inSta);
- if (taskWrk!=null){
- if (deviceRgvDetection(inSta.getStaNo(),rgvSlave,taskWrk.getTargetPointConvert())){
- RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
-
-
- }
- }
- }
- }
- } catch (Exception e){
- log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}",e.getMessage());
- }
- }
- }
-
- public synchronized void DevpTaskNoRun() {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
try{
if (rgvDetection(rgvSlave)){
@@ -1272,71 +1205,130 @@
}
}
+ if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
+
+ boolean sign = false;
+
if (rgvOtherStatusEnable(rgvSlave)){
//鍒嗘垚涓婁笅涓ら儴鍒嗕换鍔�
- List<Integer>[] avoidRange = RouteUtils.avoidRange(staList, basDevpPositions);
+ List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions,itSmall);
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);
- if (taskNoNow.equals("鏃�")){ //b 鏃犱换鍔�
- //鎵�灞為儴鍒嗗氨杩涘彇璐�
- // 鍗婅竟鍖哄煙鍐呭叏浠诲姟
- boolean sign = false;
+ //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
+ //绛涢�夊湪鑼冨洿浠诲姟
+ Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
+ List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
+
+ for (Integer staNoNow : belongToRange){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
+ 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 ()
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ }
}
- }
- }
- }
- 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)){
-
- break;
- }
- }
- if (sign){
- break;
- }
+ if (sign){
+ break;
}
}
- //鍒囨崲B
- continue;
- } else {//b 鏈変换鍔�
-
- // 鍙敤鍖哄煙浠诲姟
- // 鍙敤鍖哄煙浠诲姟鍐呭彇璐т换鍔�
- //鍒囨崲B
-
- continue;
}
- 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){
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
+ 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;
+ }
+ }
}
}
} catch (Exception e){
--
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