From c3ba975fcd523371d74af8124c92ac542ef79c06 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期三, 23 十月 2024 11:48:27 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 322 +++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 283 insertions(+), 39 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 a03ebb5..9cface6 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,36 +1,30 @@
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.BasRgv;
-import com.zy.asrs.entity.BasSte;
+import com.zy.asrs.entity.*;
+import com.zy.asrs.service.BasCircularShuttleService;
+import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.BasDevpService;
-import com.zy.asrs.utils.Utils;
-import com.zy.core.DevpThread;
-import com.zy.core.News;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
+import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
-import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.SteCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
-import com.zy.core.thread.SiemensDevpThread;
-import com.zy.core.thread.SteThread;
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.Date;
-import java.util.Map;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -47,44 +41,294 @@
private BasDevpService basDevpService;
@Autowired
private BasRgvServiceImpl basRgvService;
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
+ @Autowired
+ private BasCircularShuttleService basCircularShuttleService;
+ @Autowired
+ private WrkMastService wrkMastService;
+ /**
+ * 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", 1L));
+ if (wrkMasts.isEmpty()){
+ return;
+ }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
+ 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);
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().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){
+ 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() {
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta sta : devp.getInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
- if (staProtocol == null) {
- continue;
+ try{
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",true));
+ if (wrkMasts.isEmpty()){
+ return;
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInSeconds(wrkMasts.get(0).getModiTime(), new Date());
+ if (differenceInSeconds<=5){
+ 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",false));
+ Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos());
+ 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){
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts",1L));
+ 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){
+ log.error("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
+
+ rgvId++;
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol != null
+ && rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getAlarm() == 0){
+ 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
+ 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.error("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());
+ wrkMast.setAppeTime(new Date());
+ try{
+ wrkMastService.updateById(wrkMast);
+ continue ;
+ }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 {
- staProtocol = staProtocol.clone();
+ break runRgv;
}
}
}
}
- public synchronized void loopSteCharge() {
- for (RgvSlave rgv : slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- BasRgv basRgv = basRgvService.selectById(rgv.getId());
- if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
- try {
- // 鍦ㄧ嚎 绌洪棽 鏃犱綔涓氭爣璁� 涓嶅湪鍏呯數
- if (rgvProtocol.getMode() == 0
- || !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
- || basRgv.getPakMk().equals("Y")
-// || steProtocol.getChargeStatus() == 1
- ) {
+ //浠诲姟瀹屾垚
+ public synchronized void rgvCompleteWrkMastSta() {
+ try{
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
}
- } catch (Exception e) {
- News.error("fail", e);
+ 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().equals(2L)){
+ 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�"+wrkMast);
+ 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.setWrkSts(3L);
+ wrkMast.setAppeTime(new Date());
+ 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 rgvId){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ 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,rgvId);
+ return false;
}
}
}
--
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