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