From fc86a263ca2ffdb0e701261ff3b1e730b2065542 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期四, 14 八月 2025 11:18:32 +0800
Subject: [PATCH] #RGV协议修改，rgv预调度，任务下发
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 489 +++++++++++++++++++++++++++++++++++------------------
1 files changed, 319 insertions(+), 170 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 f091010..5dd7333 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -46,7 +46,6 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -2699,13 +2698,13 @@
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
&& (rgvProtocol.getTaskNo1()==0)
&&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
+ Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
if (rgvProtocolOther == null) {
@@ -2715,7 +2714,7 @@
}
if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
- && rgvProtocolOther.getLoaded1()==0
+ && !rgvProtocolOther.isLoaded1ing()
&& (rgvProtocolOther.getTaskNo1()==0)
&&rgvThreadOther.isPakMk()
){
@@ -2788,7 +2787,22 @@
&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
){
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);
- if (rgvProtocol.getTaskNo1()!=0){
+ if(rgvProtocol.getTaskNo1() == 9999){
+ List<Integer> staNos = Arrays.asList( 1043, 1104);
+ for (Integer staNo : staNos) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ boolean rgvComplete = false;
+ if(!staProtocol.isLoading()){
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);//宸ヤ綅1澶嶄綅
+ }
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�",rgvProtocol.getRgvNo());
+ break;
+ }
+ }
+ }
+ if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
// if (rgvProtocol.getTaskNo1()==32222){
// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
// if (!rgvComplete){
@@ -2849,9 +2863,9 @@
//鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
if((sourceSta >= 1001 && sourceSta <= 1035) || (sourceSta >= 2001 && sourceSta <= 2030)){
- rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),6);
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
}else{
- rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),3);
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
}
if (!rgvComplete){
@@ -2883,6 +2897,8 @@
}
/**
* 鎵ц灏忚溅鎼繍浠诲姟
+ *
+ * @return
*/
public synchronized boolean rgvRunWrkMastFullSta() {
boolean wrkEnable = false;
@@ -2902,14 +2918,13 @@
continue;
}
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1() == 0
+ && !rgvProtocol.isLoaded1ing()
&& rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getTaskNo2() == 0
- && rgvProtocol.getLoaded2() == 0
&& rgvThread.isPakMk()
+ && rgvThread.isPakIn()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
if (basRgvMap == null) {
@@ -2920,35 +2935,10 @@
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
for (WrkMastSta wrkMastSta : wrkMastStaList){
-// if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:婊＄増 3锛氬彇鏀�
-// continue;
-// }
- //鍒ゆ柇宸ヤ綔缁撴潫浣嶇疆鐘舵��
-// boolean signDev = false;
-// BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
-// if (devNo.getDevNo()==113){
-// BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
-// if (!Cools.isEmpty(devNo114)){
-// if (devNo114.getOutEnable().equals("Y")){
-// signDev = true;
-// }
-// }
-// }
-// if (!Cools.isEmpty(devNo)){
-// if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
-// continue;
-// }
-// if (!signDev && devNo.getDevNo()==113){
-// if (!devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N")){
-// wrkEnable = true;
-// continue;
-// }
-// if (!devNo.getOutEnable().equals("Y")){
-// wrkEnable = true;
-// continue;
-// }
-// }
-// }
+ List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+ if (!staNos.contains(wrkMastSta.getStaStart())) {
+ continue;
+ }
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
wrkEnable = true;
if (sign){
@@ -2960,12 +2950,13 @@
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
rgvThread.setPakMk(false);
+ rgvThread.setPakOut(false);
boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
if (signMap){
return wrkEnable;
// break;
}else {
- log.error("3864琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
Thread.sleep(500);
}
} else {
@@ -2976,15 +2967,132 @@
}
}
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && !rgvProtocol.isLoaded2ing()
+ && rgvProtocol.getTaskNo2() == 0
+ && rgvThread.isPakMk()
+ && rgvThread.isPakOut()
+ ){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ continue;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+ if (staNos.contains(wrkMastSta.getStaStart())) {
+ continue;
+ }
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ wrkEnable = true;
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ rgvThread.setPakMk(false);
+ rgvThread.setPakOut(false);
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (signMap){
+ return wrkEnable;
+// break;
+ }else {
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ Thread.sleep(500);
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ Thread.sleep(500);
+ }
+ break;
+ }
+
+ }
+
}
-// if (!wrkEnable){
-// rgvRunWrkMastEmptyStaAvoidance();
-// }
}catch (Exception e){
- log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
- log.error("3875琛�"+e);
+ log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
}
return wrkEnable;
+ }
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
+ public synchronized void rgvPreScheduling(){
+ try{
+ List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+ for (BasRgvMap rgvSlave:basRgvMaps) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鎵嶈繘琛岄璋冨害
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && !rgvProtocol.isLoaded1ing()
+ && rgvProtocol.getTaskNo1() == 0
+ && !rgvProtocol.isLoaded2ing()
+ && rgvProtocol.getTaskNo2() == 0
+ && rgvThread.isPakMk()
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ continue;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱鍙� 鍏ュ簱棰勮皟搴�
+ List<Integer> staNos = Arrays.asList(1042, 1043, 1105, 1104);
+ for (Integer staNo : staNos) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if(staProtocol.isLoading()){
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(9999); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ if(staNo == 1042 || staNo ==1043){
+ rgvCommand.setTargetPosition1(1042); //宸ヤ綅1鐩爣绔欑偣
+ }else{
+ rgvCommand.setTargetPosition1(1105); //宸ヤ綅1鐩爣绔欑偣
+ }
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ }
+ }
+ }
+
+ }
+
+ }
+ }
+ }catch (Exception e){
+ log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
+ }
}
/**
* 鎵ц灏忚溅鎼繍浠诲姟
@@ -3118,107 +3226,107 @@
/*
* 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
* */
- public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
- try{
- Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
- if (integer==0){
- return;
- }
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�1", rgvSlave.getRgvNo());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && rgvProtocol.getTaskNo1()==0
- && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
- && rgvThread.isPakMk()
-// && rgvProtocol.getTaskNo2()==0
- ){
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- continue;
- }
-// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
-// continue;
-// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
+// public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
+// try{
+// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+// if (integer==0){
+// return;
+// }
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�1", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+// && rgvProtocol.getTaskNo1()==0
+// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+// && rgvThread.isPakMk()
+//// && rgvProtocol.getTaskNo2()==0
+// ){
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
// continue;
// }
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
- }
- }
- }catch (Exception e){
- log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
- log.error("4109琛�"+e);
- }
- }
+//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
+//// continue;
+//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
+//// continue;
+//// }
+// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
+// }
+// }
+// }catch (Exception e){
+// log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+// log.error("4109琛�"+e);
+// }
+// }
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXY(Integer rgvId){
- BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
- if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
- try{
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- 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));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }else {
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- 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));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }
- }
+// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
+// if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
+// try{
+//
+// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+// //basRgvMap.getLockStartRoute().shortValue()
+// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+// 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));
+// return false;
+// } else {
+// return true;
+// }
+// }catch (Exception e){
+// return false;
+//
+// }
+// }else {
+// try{
+// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+// //basRgvMap.getLockStartRoute().shortValue()
+// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+// 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));
+// return false;
+// } else {
+// return true;
+// }
+// }catch (Exception e){
+// return false;
+//
+// }
+// }
+// }
/*
@@ -3229,39 +3337,80 @@
int startSta = wrkMastSta.getStaStart();
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
+ boolean pakIn1 = true;
+ boolean pakIn2 = true;
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
- rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand((short) 2); //宸ヤ綅1浠诲姟纭
- }else{ //鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- }
- if(rgvCommand.getCommand() == 1){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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));
- return false;
- } else {
- return true;
+ if(wrkMastSta.getWrkSts() == 1){//鍙栬揣
+ if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ pakIn1 = false;
+ }else{ //鍏ュ簱RGV鍙栬揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
}
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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));
- return false;
- } else {
- return true;
+ if(!pakIn1){
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ 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));
+ return false;
+ } else {
+ return true;
+ }
+ }else{
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ 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));
+ return false;
+ } else {
+ return true;
+ }
}
}
+ if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
+ if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ pakIn2 = false;
+ }else{ //鍏ュ簱RGV鍙栬揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ }
+ if(!pakIn2){
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ 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));
+ return false;
+ } else {
+ return true;
+ }
+ }else{
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ 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));
+ return false;
+ } else {
+ return true;
+ }
+ }
+ }
+ return true;
}catch (Exception e){
return false;
}
--
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