From 1dacf2305187f5c2fb44f03b6b754c46cb73ba25 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 19 三月 2026 08:53:59 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 166 ++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 152 insertions(+), 14 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 be3cfa5..e6e8827 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -100,7 +100,7 @@
public synchronized int[][] getStePositionNearby(Integer siteNo) {
try {
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
- if (basDevpPositions.isEmpty()) {
+ if (basDevpPositions == null || basDevpPositions.isEmpty()) {
log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
return null;
}
@@ -114,8 +114,11 @@
List<List<Long>> rgvPositionList = new ArrayList<>();
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ if (rgvThread == null) {
+ continue;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
continue;
}
List<Long> rgvPosition = new ArrayList<>();
@@ -123,17 +126,31 @@
rgvPosition.add(rgvProtocol.getRgvPos());
rgvPositionList.add(rgvPosition);
}
+ if (rgvPositionList.isEmpty()) {
+ return null;
+ }
Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
if (rgvNo == -1) {
log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
return null;
}
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
+ return null;
+ }
int[][] ints = new int[basCircularShuttleList.size()][2];
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
+ continue;
+ }
+ if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
+ continue;
+ }
ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
}
- if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
+ if (basCircularShuttleList.get(0) != null
+ && basCircularShuttleList.get(0).getRgvNo() != null
+ && basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
return ints;
}
// String[] oldList = new String[ints.length];
@@ -145,7 +162,7 @@
} 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);
+ log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触(getStePositionNearby), siteNo={}", siteNo, e);
}
return null;
@@ -159,12 +176,23 @@
boolean sign = false;
Integer rgvNo = 0;
List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
+ return;
+ }
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
+ sign = true;
+ continue;
+ }
if (basCircularShuttle.getStatus() != 0){
sign = true;
continue;
}
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ if (rgvThread == null) {
+ sign = true;
+ continue;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
sign = true;
@@ -178,6 +206,12 @@
if (sign && rgvNo != 0) {
int[][] ints = new int[basCircularShuttleList.size()][2];
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
+ continue;
+ }
+ if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
+ continue;
+ }
ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
}
// String[] oldList = new String[ints.length];
@@ -192,14 +226,23 @@
// 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) {
+ if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
+ continue;
+ }
+ if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > rgvList.length) {
+ continue;
+ }
int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
+ if (rgv == null || rgv.length < 2) {
+ continue;
+ }
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);
+ log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触(updateStePosition)", e);
}
}
@@ -219,13 +262,22 @@
}
BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
+ if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
+ return;
+ }
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ if (rgvThread == null) {
+ return;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol == null || rgvProtocol.getRgvPos() == null) {
return;
}
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
+ if (basDevpPositions == null || basDevpPositions.isEmpty() || basDevpPositionDevRegion == null || basDevpPositionDevRegion.isEmpty()) {
+ return;
+ }
Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
@@ -355,14 +407,20 @@
}
BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
+ if (basCircularShuttle == null) {
+ continue;
+ }
if (basCircularShuttle.getStatus() != 0){
continue ;
}
long rgvId = basCircularShuttle.getRgvId();
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ if (rgvThread == null) {
+ continue;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
continue;
}
@@ -374,8 +432,12 @@
&& rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getRgvPosInt() != 0
&& rgvProtocol.getAlarm() == 0) {
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+ if (basDevpPosition == null || basDevpPosition.getPlcPosition() == null) {
+ continue;
+ }
if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
@@ -478,6 +540,9 @@
continue;
}
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ if (rgvThread == null) {
+ continue;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
@@ -503,9 +568,12 @@
//浠诲姟瀹屾垚
public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
- try {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ if (rgvThread == null) {
+ continue;
+ }
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
@@ -515,7 +583,7 @@
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) {
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
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�
@@ -524,7 +592,7 @@
&& 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()));
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
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;
@@ -576,10 +644,80 @@
}
} catch (Exception e){}
wrkMastService.updateById(wrkMast);
+ } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ){
+ 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;
+ }
}
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
}
- } catch (Exception e) {
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+ public synchronized void rgvCancelWrkMastSta() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ if (rgvThread == null) {
+ continue;
+ }
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) {
+ log.info("{}鍙峰皬杞︾瓑寰厀cs鍙栨秷锛岀姸鎬亄}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.CANCEL
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 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(rgvProtocol.getTaskNo1());
+ rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨秷
+ rgvCommand.setSourceStaNo1((short)-1); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1((short)-1); //宸ヤ綅1鐩爣绔欑偣
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// rgvCommand.setRgvSome((short) 1);
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
+ //
+ log.error("RGV鍙栨秷鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+// wrkMast.setLogErrTime(new Date());
+// wrkMast.setLogErrMemo("RGV鍙栨秷鍛戒护涓嬪彂澶辫触锛孯GV鍙�={"+rgvProtocol.getRgvNo()+"}===>璺宠繃");
+// wrkMastService.updateById(wrkMast);
+ continue;
+ }
+ log.info("RGV鍙栨秷鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvCommand.getTaskNo1().longValue()).eq("rgv_no",rgvCommand.getRgvNo()));
+ 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;
+ }
+
+ Date now = new Date();
+ wrkMast.setWrkSts(1L);
+ wrkMast.setRgvNo(0);
+ wrkMast.setAppeTime(now);
+ wrkMast.setLogErrTime(now);
+
+ wrkMast.setLogErrMemo("RGV鐢宠鍙栨秷浠诲姟锛孯GV鍙�={"+rgvProtocol.getRgvNo()+"}锛屽彇娑堟椂闂达細"+now);
+
+ wrkMastService.updateById(wrkMast);
+
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅鍙栨秷绾跨▼鎶ラ敊锛�" + e);
+ }
}
}
--
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