From a6ddc35c9f177ec73abef648fed0ac6de16d856f Mon Sep 17 00:00:00 2001
From: pjb <pjb123456>
Date: 星期六, 26 七月 2025 16:18:07 +0800
Subject: [PATCH] rgv调动分配优化：判断当前任务取货站点后续小车任务放货完后能不能取当前任务
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 77 +++++++++++++++++++++++++++++---------
1 files changed, 58 insertions(+), 19 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 8bcef14..2185d01 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -377,7 +377,12 @@
runRgv:
for (WrkMast wrkMast : wrkMasts) {
- BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getRgvSstaNo())); // 绔欑偣
+ Integer rgvSstaNo = wrkMast.getRgvSstaNo();
+ // 1090锛�1089,1086,1083 鎸�1083绔欑偣浣嶇疆璁＄畻锛岃兘鍙�1083锛屽氨鑳藉彇1090锛�1089锛�1086锛岄伩鍏嶄换鍔″欢杩熶笅鍙戞柟妗堜竴鐩寸粰1083鍙�
+ if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086 || rgvSstaNo == 1105) {
+ rgvSstaNo = 1083;
+ }
+ BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 绔欑偣
long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
TreeMap<Long, RgvProtocol> map = new TreeMap<>();
for (RgvProtocol rgvProtocol : rgvProtocolList) {
@@ -389,26 +394,27 @@
}
map.put(distance, rgvProtocol);
}
- log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
- StringBuilder sb = new StringBuilder();
- for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
- RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
- sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
- }
- log.info(sb.toString());
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
+// StringBuilder sb = new StringBuilder();
+// for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+// RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
+// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
+// }
+// log.info(sb.toString());
for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 鏈�杩戣窛绂诲皬杞�
// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈡渶杩戝皬杞︼細{},鐘舵��:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
if(wrkMast.getIoType() == 10 || wrkMast.getIoType() == 110 || wrkMast.getSourceStaNo() == 1034) {
- if (count != 0) {
- continue;
- }
if (rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
&& rgvProtocol.getAlarm() == 0) {
+ if (count != 0) {
+ log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
+ break ;
+ }
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
@@ -428,15 +434,33 @@
wrkMast.setRgvCreateTime(now);
wrkMastService.updateById(wrkMast);
break runRgv;
+ } else if(rgvProtocol.modeType == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
+ WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
+ if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
+ // 褰撳墠rgv浠诲姟鐩爣绔欑偣
+ BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
+ long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
+ if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
+ }
+ } else {
+ if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
+ break;
+ }
+ }
+ }
}
} else {
- if (count != 0) {
- break;
- }
if (rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
&& rgvProtocol.getAlarm() == 0) {
+ if (count != 0) {
+ log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
+ break;
+ }
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
@@ -456,8 +480,23 @@
wrkMast.setRgvCreateTime(now);
wrkMastService.updateById(wrkMast);
break runRgv;
- } else {
- break ; // 鍙湅鏈�杩戠殑绗竴涓皬杞�
+ } else if(rgvProtocol.modeType == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
+ WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
+ if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
+ // 褰撳墠rgv浠诲姟鐩爣绔欑偣
+ BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
+ long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
+ if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
+ }
+ } else {
+ if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
+ break;
+ }
+ }
+ }
}
}
}
@@ -493,7 +532,7 @@
log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
continue;
} else if(wrkMast.getWrkSts() != 10) {
- log.error("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ log.warn("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
continue;
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
@@ -533,7 +572,7 @@
log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
continue;
} else if(wrkMast.getWrkSts() != 10) {
- log.error("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ log.warn("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
continue;
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
@@ -562,7 +601,7 @@
log.error("灏忚溅澶嶄綅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);
+ log.info("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
return true;
}
} catch (Exception e) {
--
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