From db093d853136fa7809eb1c5e512656bfb8980d15 Mon Sep 17 00:00:00 2001
From: lsh <lsh123456>
Date: 星期五, 05 四月 2024 19:13:22 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 172 +++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 149 insertions(+), 23 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 900bc6d..47b2ce4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2318,6 +2318,7 @@
param.setIoType(10);
param.setSourceStaNo(122);
param.setLocType1((short)1);
+ param.setRgvNo(rgvProtocol.getRgvNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/empty/loc/v1")
@@ -3318,7 +3319,7 @@
wrkMast.setSheetNo("5");
wrkMastMapper.updateById(wrkMast);
- boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
+ boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));
}
}
@@ -3686,19 +3687,43 @@
return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ if (rgvProtocol.getRgvNo()==1){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
continue;
}
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
+
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==1);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -3755,6 +3780,10 @@
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
@@ -3763,15 +3792,23 @@
boolean sign = false;
if ( wrkMastSta.getStaEnd()!=0){//鏀�
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鎷嗙洏
}else {
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(2);
try{
@@ -3829,6 +3866,10 @@
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀� 7:鎻愬崌
@@ -3837,15 +3878,23 @@
boolean sign = false;
if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
}else {
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(2);
try{
@@ -3899,6 +3948,10 @@
return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
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){
@@ -3911,12 +3964,31 @@
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鍙犵洏
}else {
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -3971,6 +4043,10 @@
}
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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
if (!Cools.isEmpty(wrkMast)){
@@ -3989,12 +4065,15 @@
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
continue;
}
+ Date date = new Date();
+ log.info(date+"婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
}else {
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -4025,10 +4104,18 @@
* */
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){
+// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+// if (integer==0){
+// return;
+// }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+ if (Cools.isEmpty(wrkMastSta)){
return;
}
+ Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ boolean signRgv = true;
+ boolean signRgv1 = true;
+ boolean signRgv2 = true;
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4050,17 +4137,48 @@
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- continue;
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+ if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
+ if (rgvProtocol.getRgvNo()==1){
+ signRgv1 = false;
+ }else {
+ signRgv2 = false;
+ }
}
if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
- continue;
+ signRgv = false;
+ break;
} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+ signRgv = false;
+ break;
+ }
+ }else {
+ signRgv = false;
+ break;
+ }
+ }
+ if (signRgv && (signRgv1 || signRgv2)){
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
}
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+ // 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.getTaskNo2()==0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ }
}
}
}catch (Exception e){
@@ -4107,10 +4225,10 @@
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXY(Integer rgvId){
- if (rgvId==1){
+ public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
+ if (rgvId==2){
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4118,7 +4236,7 @@
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( (short)101);
+ rgvCommand.setSourceStaNo1(rgvRunSta[1].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�
@@ -4133,14 +4251,14 @@
}
}else {
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
- rgvCommand.setSourceStaNo2((short)117);
+ rgvCommand.setSourceStaNo2(rgvRunSta[0].shortValue());
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
@@ -4356,6 +4474,13 @@
/*
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,boolean sign){
+ if (sign){
+ staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staStart);
+ staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staEnd);
+ }
+ return rgvMapUpdate(basRgvMapCurrent,staStart,staEnd);
+ }
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
@@ -4372,6 +4497,7 @@
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
basRgvMapOther.setEndRoute(lockEndRoute);
+ basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther,lockEndRoute));
basRgvMapMapper.updateById(basRgvMapOther);
return true;
}catch (Exception e){
--
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