From b825c8243ba8f8f45b61410467ec4e5f414d944a Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 13 六月 2025 10:18:54 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 148 ++-----------------------------------------------
1 files changed, 6 insertions(+), 142 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 c5d84c1..16ef52c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -206,24 +206,23 @@
/**
* 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
*/
- public synchronized List<List<List<WrkMast>>> DevpTaskNoRun() {
- List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
+ public synchronized void DevpTaskNoRun() {
try {
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
if (wrkMasts.isEmpty()) {
- return wrkMastListAll;
+ return;
}
long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
if (differenceInSeconds <= 1000) {
- return wrkMastListAll;
+ 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 wrkMastListAll;
+ 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));
@@ -232,15 +231,13 @@
BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- return getWrkMastListAll(siteListAll,basDevpPositionsListUN);
+ List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll, basDevpPositionsListUN);
//涓嬪彂浠诲姟
// 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);
}
- return wrkMastListAll;
-
}
@@ -330,140 +327,7 @@
}
}
-// 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) {
-//0灏忚溅杞﹀彿 1灏忚溅缂栧彿
List<Integer> rgvNoM = new ArrayList<>();
List<Integer> rgvNoR = new ArrayList<>();
int wrkMastRunCount = 0;
--
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