From c3298aea8c7ae7d31a8853266735543710707b51 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期三, 04 六月 2025 10:45:08 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/core/enums/RgvStatusType.java          |    1 
 src/main/java/com/zy/core/thread/RgvThread.java             |   14 +++++++
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   68 ++++++++++++++++++++++++++++++----
 src/main/resources/application.yml                          |    4 +-
 4 files changed, 77 insertions(+), 10 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 bb21ce1..0c62e40 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -107,17 +107,19 @@
                 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);
+            Integer siteNo = 110;
+//            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();
+                    break;
                 }
             }
             List<List<Long>> rgvPositionList = new ArrayList<>();
@@ -185,7 +187,7 @@
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
                     sign = true;
-                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
+                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM  && rgvProtocol.getStatusType() != RgvStatusType.WALK)) {
                     sign = true;
                 } else {
                     rgvNo = basCircularShuttle.getRgvNo();
@@ -354,6 +356,56 @@
                             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/core/enums/RgvStatusType.java b/src/main/java/com/zy/core/enums/RgvStatusType.java
index be1b7ba..367a014 100644
--- a/src/main/java/com/zy/core/enums/RgvStatusType.java
+++ b/src/main/java/com/zy/core/enums/RgvStatusType.java
@@ -13,6 +13,7 @@
     Outbound_operation_in_progress(7, "鍑虹珯杩愯涓�","#2196F3"),
     Outbound_completed(8, "鍑虹珯瀹屾垚","#2196F3"),
     ROAM(11, "婕父","#2196F3"),
+    WALK(12, "婕父2","#2196F3"),
     WAITING(100, "浠诲姟鎵ц瀹屾垚绛夊緟纭","#2196F3"),
     SOS110(110, "鎶ヨ","#2196F3"),
     SOS(999, "鏈煡","#2196F3")
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index ece3eeb..38eb977 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -112,6 +112,20 @@
                         command.setDestinationStaNo1((short)0);     // 鐩爣绔�
                         write3(command);
                         break;
+                    // 澶嶄綅
+                    case 4:
+                        RgvCommand command4 = (RgvCommand) task.getData();
+                        if (null == command4) {
+                            command4 = new RgvCommand();
+                        }
+                        command4.setRgvNo(slave.getId()); // RGV缂栧彿
+                        command4.setTaskNo1((short) 0); // 宸ヤ綔鍙�
+                        command4.setAckFinish1((short) 1);  // 浠诲姟瀹屾垚纭浣�
+                        command4.setTaskMode1(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
+                        command4.setSourceStaNo1((short)0);     // 婧愮珯
+                        command4.setDestinationStaNo1((short)0);     // 鐩爣绔�
+                        write3(command4);
+                        break;
                     default:
                         break;
                 }
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 8ec91c7..7b4f668 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:

--
Gitblit v1.9.1