From a3457fec2098d42166adba326c1d7f197cb59b16 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期日, 27 四月 2025 08:28:00 +0800
Subject: [PATCH] 米多泉州rgv调度程序完成
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 407 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 406 insertions(+), 1 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 c05f38f..143e3a4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,17 +1,422 @@
package com.zy.asrs.service.impl;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.Cools;
+import com.zy.asrs.entity.BasCircularShuttle;
+import com.zy.asrs.entity.BasDevpPosition;
+import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasCircularShuttleService;
+import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
+import com.zy.asrs.utils.TimeCalculatorUtils;
+import com.zy.common.service.CommonService;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.RgvModeType;
+import com.zy.core.enums.RgvStatusType;
+import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.RgvSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.RgvCommand;
+import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.RgvThread;
+import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
- * Created by vincent on 2020/8/6
+ * Created by IX on 2024/10/01
*/
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {
+ @Autowired
+ private SlaveProperties slaveProperties;
+ @Autowired
+ private BasRgvServiceImpl basRgvService;
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
+ @Autowired
+ private BasCircularShuttleService basCircularShuttleService;
+ @Autowired
+ private WrkMastService wrkMastService;
+ @Autowired
+ private CommonService commonService;
+
+ @Value("${constant-parameters.perimeter}")
+ private Long perimeter;
+ @Value("${constant-parameters.proportion}")
+ private Long proportion;
+ @Value("${constant-parameters.acceleration}")
+ private Long acceleration;
+ @Value("${constant-parameters.rgvCount}")
+ private Long rgvCount;
+ @Value("${constant-parameters.rgvDate}")
+ private Double rgvDate;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
+
+ /*
+ * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
+ * */
+ public synchronized boolean licenseVerify() {
+ try{
+// if (true) {
+// return true;
+// }
+ return new LicenseVerify().verify();
+ } catch (Exception e){
+ log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
+ }
+ 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() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2L));
+ 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;
+ }
+ 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;
+ }
+ Long sitePosition = 0L;
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ if (basDevpPosition.getDevNo().equals(siteNo)) {
+ sitePosition = basDevpPosition.getPlcPosition();
+ }
+ }
+ List<List<Long>> rgvPositionList = new ArrayList<>();
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ List<Long> rgvPosition = new ArrayList<>();
+ rgvPosition.add(rgvProtocol.getRgvNo().longValue());
+ rgvPosition.add(rgvProtocol.getRgvPos());
+ rgvPositionList.add(rgvPosition);
+ }
+ 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;
+ }
+ 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()};
+ }
+// 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);
+// }
+
+// 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);
+ }
+ }
+
+ /**
+ * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
+ */
+ public synchronized void updateStePosition() {
+ try {
+ boolean sign = false;
+ Integer rgvNo = 0;
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle.getStatus() != 0){
+ sign = true;
+ continue;
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ sign = true;
+ } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
+ sign = true;
+ } else {
+ rgvNo = basCircularShuttle.getRgvNo();
+ break;
+ }
+ }
+ if (sign && rgvNo != 0) {
+ int[][] ints = new int[basCircularShuttleList.size()][2];
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
+ }
+// 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);
+// }
+
+// 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);
+ }
+ }
+
+ /**
+ * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
+ */
+ public synchronized void DevpTaskNoRun() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).orderBy("modi_time", true));
+ if (wrkMasts.isEmpty()) {
+ return;
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
+ if (differenceInSeconds <= 100) {
+ 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;
+ }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", 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);
+ //涓嬪彂浠诲姟
+ taskDown(wrkMastLists);
+ } 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<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
+ 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("rgv_no", 0).orderBy("modi_time", true));
+ for (WrkMast wrkMast : wrkMastList) {
+ if (!Cools.isEmpty(wrkMast)) {
+ if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
+ wrkMastlistA.add(wrkMast);
+ } else {
+ wrkMastlistB.add(wrkMast);
+ }
+ }
+ }
+ }
+ wrkMastLists.add(wrkMastlistA);
+ wrkMastLists.add(wrkMastlistB);
+ return 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 wrkMastLists;
+ }
+ }
+
+ 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()));
+ if (!wrkMasts.isEmpty()) {
+ continue;
+ }
+ if (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.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ 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.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setAppeTime(new Date());
+ 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;
+ }
+ }
+ }
+ }
+ }
+
+ //浠诲姟瀹屾垚
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ 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) {
+ 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�
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && 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()));
+ if (Cools.isEmpty(wrkMast) && (wrkMast.getWrkSts() == 2 || wrkMast.getWrkSts() == 15) && (wrkMast.getRgvNo() == 0 || wrkMast.getRgvNo() > 10)) {
+ 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�" + rgvProtocol.getTaskNo1());
+ continue;
+ }
+ 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;
+ }
+ wrkMast.setRgvNo(10+rgvProtocol.getRgvNo());
+ Date now = new Date();
+ wrkMast.setModiTime(now);
+ wrkMastService.updateById(wrkMast);
+ }
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvNo) {
+ try {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
+ return true;
+ }
+ } catch (Exception e) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvNo);
+ return false;
+ }
+ }
}
--
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