From d11b3fd42435f3298b47ef14913b845b6d39ff74 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 05 六月 2025 15:49:06 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 114 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 90 insertions(+), 24 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 d451a62..0c62e40 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -68,6 +68,14 @@
private Long rgvCount;
@Value("${constant-parameters.rgvDate}")
private Double rgvDate;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
/*
* 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
@@ -99,17 +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<>();
@@ -177,7 +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();
@@ -326,6 +336,7 @@
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));
@@ -335,7 +346,59 @@
wrkMast.setWrkSts(2L);
wrkMast.setRgvNo(rgvProtocol.getRgvNo());
- wrkMast.setAppeTime(new Date());
+ 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;
@@ -352,7 +415,7 @@
}
//浠诲姟瀹屾垚
- public synchronized void rgvCompleteWrkMastSta() {
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
try {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -387,11 +450,12 @@
wrkMast.setWrkSts(3L);
Date now = new Date();
wrkMast.setAppeTime(now);
+ wrkMast.setCrnEndTime(now);
try{
try{
- if (true){
+ if (reportSwitch){
RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
- ReturnT<String> result = new PostMesDataUtils().postMesDataWcs("", "", rgvTaskReportingParam);
+ ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam);
if (result.getCode()==200){
wrkMast.setWrkSts(4L);
wrkMast.setAppeTime(now);
@@ -402,20 +466,22 @@
}
} else {
//娴嬭瘯鐢�
- wrkMast.setWrkSts(5L);
+ wrkMast.setWrkSts(4L);
wrkMast.setAppeTime(now);
wrkMastService.updateById(wrkMast);
- WrkMast wrkMast1 = new WrkMast();
- int workNo = commonService.getWorkNo(0);
- wrkMast1.setWrkNo((long) workNo);
- wrkMast1.setSourceStaNo(wrkMast.getStaNoCs());
- wrkMast1.setStaNo(wrkMast.getSourceNoCs());
- wrkMast1.setWrkSts(1L);
- wrkMast1.setIoType(1);
- wrkMast1.setModiTime(now);
- wrkMast1.setAppeTime(now);
- wrkMast1.setMemo("娴嬭瘯鏁版嵁");
- wrkMastService.insert(wrkMast1);
+ if (reportSwitchAuto) {
+ WrkMast wrkMast1 = new WrkMast();
+ int workNo = commonService.getWorkNo(0);
+ wrkMast1.setWrkNo((long) workNo);
+ wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ));
+ wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ));
+ wrkMast1.setWrkSts(1L);
+ wrkMast1.setIoType(1);
+ wrkMast1.setModiTime(now);
+ wrkMast1.setAppeTime(now);
+ wrkMast1.setMemo("娴嬭瘯鏁版嵁");
+ wrkMastService.insert(wrkMast1);
+ }
continue;
}
} catch (Exception e){
--
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