package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.service.BasCircularShuttleService; import com.zy.asrs.service.BasDevpPositionService; import com.zy.asrs.service.WrkMastService; import com.zy.asrs.task.core.ReturnT; import com.zy.asrs.task.escalationParam.RgvTaskReportingParam; import com.zy.asrs.utils.PostMesDataUtils; import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil; import com.zy.asrs.utils.TaskDispatchPriorityUtil; import com.zy.asrs.utils.TimeCalculatorUtils; import com.zy.common.CodeRes; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.RgvSlave; import com.zy.core.model.Task; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.RgvThread; import com.zy.system.entity.license.LicenseVerify; 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.*; /** * 立体仓库WCS系统主流程业务 * Created by IX on 2024/10/01 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { @Autowired private SlaveProperties slaveProperties; @Autowired private BasRgvServiceImpl basRgvService; @Autowired private BasDevpPositionService basDevpPositionService; @Autowired private BasCircularShuttleService basCircularShuttleService; @Autowired private WrkMastService wrkMastService; @Autowired private CommonService commonService; @Value("${constant-parameters.taskRunPerimeter}") private Long taskRunPerimeter; @Value("${constant-parameters.perimeter}") private Long perimeter; @Value("${constant-parameters.proportion}") private Long proportion; @Value("${constant-parameters.acceleration}") private Long acceleration; @Value("${constant-parameters.rgvCount}") private Long rgvCount; @Value("${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; @Value("${constant-parameters.priority.distance-threshold:10000}") private Long priorityDistanceThreshold; @Value("${constant-parameters.priority.weight.time:0.4}") private Double priorityTimeWeight; @Value("${constant-parameters.priority.weight.distance:0.4}") private Double priorityDistanceWeight; @Value("${constant-parameters.priority.weight.region:0.2}") private Double priorityRegionWeight; @Value("${constant-parameters.priority.region-values:}") private String regionPriorityValues; private volatile String cachedRegionPriorityRaw = ""; private volatile Map cachedRegionPriorityMap = new HashMap<>(); /* * 验证许可证是否有效 * */ public synchronized boolean licenseVerify() { try{ // if (true) { // return true; // } return new LicenseVerify().verify(); } catch (Exception e){ log.info("许可证验证失败！！异常：{}",e.getMessage()); } return false; } /** * 站点任务检测 更新小车位置信息 */ public synchronized int[][] getStePositionNearby(Integer siteNo) { try { List basDevpPositions = basDevpPositionService.selectList(new EntityWrapper().orderBy("plc_position", true)); if (basDevpPositions.isEmpty()) { log.error("获取所有站点信息异常"); return null; } Long sitePosition = 0L; for (BasDevpPosition basDevpPosition : basDevpPositions) { if (basDevpPosition.getDevNo().equals(siteNo)) { sitePosition = basDevpPosition.getPlcPosition(); break; } } List> 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 rgvPosition = new ArrayList<>(); rgvPosition.add(rgvProtocol.getRgvNo().longValue()); rgvPosition.add(rgvProtocol.getRgvPos()); rgvPositionList.add(rgvPosition); } Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter); if (rgvNo == -1) { log.info("更新小车排序信息异常={}", rgvNo); return null; } List basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper().orderBy("rgv_id", true)); int[][] ints = new int[basCircularShuttleList.size()][2]; for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) { ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()}; } if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) { return ints; } // String[] oldList = new String[ints.length]; // for (int[] rgv : ints){ // oldList[rgv[0]-1] = Arrays.toString(rgv); // } int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo); return rgvList; } catch (Exception e) { log.error("自动更新小车排序信息失败，异常：" + e); } return null; } /** * 站点任务检测 更新小车位置信息 */ public synchronized void updateStePosition() { try { boolean sign = false; Integer rgvNo = 0; List basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper().orderBy("rgv_id", true)); for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) { if (basCircularShuttle.getStatus() != 0){ sign = true; continue; } 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 && rgvProtocol.getStatusType() != RgvStatusType.WALK)) { 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("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",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("自动更新小车排序信息失败，异常：" + e); } } /** * 站点任务检测 下发小车取放任务 */ public synchronized void DevpTaskNoRun() { try { dispatchTaskByFlow(); } catch (Exception e) { log.error("自动下发小车任务失败，异常：{}", e.getMessage(), e); } } /** * 流程图版: 任务池挑任务并下发RGV * 时间/距离/区域按权重计算最终优先级，再执行下发。 */ private void dispatchTaskByFlow() { Date now = new Date(); List taskPool = wrkMastService.selectList( new EntityWrapper().eq("wrk_sts", 1L).orderBy("modi_time", true) ); if (taskPool.isEmpty()) { return; } Date firstTaskTime = taskPool.get(0).getAppeTime() == null ? taskPool.get(0).getModiTime() : taskPool.get(0).getAppeTime(); if (firstTaskTime == null) { return; } long oldestWaitMs = TimeCalculatorUtils.differenceInMilliseconds(firstTaskTime, now); if (oldestWaitMs <= 1000) { return; } List sitePositions = basDevpPositionService.selectList( new EntityWrapper().orderBy("plc_position", true) ); if (sitePositions == null || sitePositions.isEmpty()) { return; } Map siteMap = new HashMap<>(); for (BasDevpPosition site : sitePositions) { siteMap.put(site.getDevNo(), site); } List availableRgvs = loadAvailableRgvs(); if (availableRgvs.isEmpty()) { return; } Map rgvStateMap = new HashMap<>(); List snapshots = new ArrayList<>(); for (RgvRuntimeState rgv : availableRgvs) { if (rgv.protocol == null || rgv.protocol.getRgvPos() == null) { continue; } rgvStateMap.put(rgv.shuttle.getRgvNo(), rgv); snapshots.add(new TaskDispatchPriorityUtil.RgvSnapshot(rgv.shuttle.getRgvNo(), rgv.protocol.getRgvPos())); } if (snapshots.isEmpty()) { return; } double[] weights = resolveWeights(taskPool.size(), snapshots.size()); List plans = TaskDispatchPriorityUtil.rankDispatchPlans( taskPool, siteMap, snapshots, parseRegionPriorityMap(), now, Math.max(1L, priorityDistanceThreshold == null ? 10000L : priorityDistanceThreshold), Math.max(1L, perimeter == null ? 1L : perimeter), weights[0], weights[1], weights[2] ); if (plans.isEmpty()) { return; } TaskDispatchPriorityUtil.DispatchPlan topPlan = plans.get(0); WrkMast task = topPlan.getTask(); if (task == null || task.getSourceStaNo() == null) { return; } BasDevpPosition source = siteMap.get(task.getSourceStaNo()); if (source == null) { return; } RgvRuntimeState chosenRgv = rgvStateMap.get(topPlan.getRgvNo()); if (chosenRgv == null) { return; } log.info("任务优先级计算: wrkNo={} rgvNo={} final={} (time={} distance={} region={}) distance={} inRange={}", task.getWrkNo(), topPlan.getRgvNo(), topPlan.getFinalPriority(), topPlan.getTimePriority(), topPlan.getDistancePriority(), topPlan.getRegionPriority(), topPlan.getDistance(), topPlan.isInRange()); if (topPlan.isInRange() && canFetchFromRoam(chosenRgv.protocol, source.getPlcPosition())) { if (issueFetchTask(task, chosenRgv)) { updateStePosition(); } return; } issueRoamTask(chosenRgv, source.getPlcPosition()); } private List loadAvailableRgvs() { List result = new ArrayList<>(); List shuttles = basCircularShuttleService.selectList( new EntityWrapper().orderBy("rgv_id", true) ); if (shuttles == null || shuttles.isEmpty()) { return result; } for (BasCircularShuttle shuttle : shuttles) { try { if (shuttle.getStatus() != 0) { continue; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, shuttle.getRgvNo()); if (rgvThread == null) { continue; } RgvProtocol protocol = rgvThread.getRgvProtocol(); if (!isAvailableRgv(protocol)) { continue; } if (isRgvRunningTask(shuttle.getRgvNo())) { continue; } result.add(new RgvRuntimeState(shuttle, protocol)); } catch (Exception ignore) { } } return result; } private boolean isAvailableRgv(RgvProtocol protocol) { return protocol != null && protocol.getModeType() == RgvModeType.AUTO && (protocol.getStatusType() == RgvStatusType.IDLE || protocol.getStatusType() == RgvStatusType.ROAM) && protocol.getTaskNo1() == 0 && protocol.getRgvPosInt() != 0 && protocol.getAlarm() == 0; } private boolean isRgvRunningTask(Integer rgvNo) { List running = wrkMastService.selectList( new EntityWrapper().eq("rgv_no", rgvNo).eq("wrk_sts", 2L) ); return running != null && !running.isEmpty(); } private boolean canFetchFromRoam(RgvProtocol protocol, long sourcePos) { if (protocol.getStatusType() != RgvStatusType.ROAM) { return true; } if (protocol.getInstantaneousSpeed() == null || acceleration == null || acceleration == 0) { return true; } double finalVelocity = 0.0; double distance = (Math.pow(finalVelocity, 2) - Math.pow(protocol.getInstantaneousSpeed() / 60, 2)) / (2 * acceleration); double threshold = distance * proportion + (protocol.getInstantaneousSpeed() / 60) * proportion * rgvDate; double sourceDistance = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(sourcePos, protocol.getRgvPos(), perimeter); return !(threshold > sourceDistance); } private boolean issueFetchTask(WrkMast task, RgvRuntimeState rgv) { RgvCommand command = new RgvCommand(); command.setRgvNo(rgv.shuttle.getRgvNo()); command.setAckFinish1((short) 0); command.setTaskNo1(task.getWrkNo().shortValue()); command.setTaskMode1(RgvTaskModeType.FETCH_PUT); command.setSourceStaNo1(task.getSourceStaNo().shortValue()); command.setDestinationStaNo1(task.getStaNo().shortValue()); command.setCommand((short) 1); command.setRgvSome(rgv.shuttle.getRgvSome() == 1 ? (short) 1 : (short) 0); if (!MessageQueue.offer(SlaveType.Rgv, rgv.shuttle.getRgvNo(), new Task(2, command))) { task.setLogErrTime(new Date()); task.setLogErrMemo("RGV命令下发失败，RGV号={" + rgv.shuttle.getRgvNo() + "}===>跳过"); wrkMastService.updateById(task); log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.shuttle.getRgvNo(), JSON.toJSON(command)); return false; } Date now = new Date(); task.setWrkSts(2L); task.setRgvNo(rgv.shuttle.getRgvNo()); task.setAppeTime(now); task.setCrnStrTime(now); wrkMastService.updateById(task); log.info("RGV命令下发成功，RGV号={}，任务号={}，source={}，target={}", rgv.shuttle.getRgvNo(), task.getWrkNo(), task.getSourceStaNo(), task.getStaNo()); return true; } private void issueRoamTask(RgvRuntimeState rgv, long sourcePos) { if (rgv == null || rgv.protocol == null) { return; } if (rgv.protocol.getStatusType() != RgvStatusType.IDLE) { return; } long destination = getRoamDestination(sourcePos); if (!MessageQueue.offer(SlaveType.Rgv, rgv.shuttle.getRgvNo(), new Task(5, destination))) { log.error("RGV漫游任务下发失败，RGV号={}，目的地={}", rgv.shuttle.getRgvNo(), destination); return; } log.info("RGV漫游任务下发成功，RGV号={}，目的地={}", rgv.shuttle.getRgvNo(), destination); } private long getRoamDestination(long sourcePos) { long destination = sourcePos - taskRunPerimeter + 10000; if (destination > perimeter) { return 10000L; } if (destination <= 0) { destination = perimeter + destination; } return destination; } private Map parseRegionPriorityMap() { String raw = regionPriorityValues == null ? "" : regionPriorityValues.trim(); if (raw.equals(cachedRegionPriorityRaw)) { return cachedRegionPriorityMap; } Map regionMap = new HashMap<>(); if (raw.isEmpty()) { cachedRegionPriorityRaw = raw; cachedRegionPriorityMap = regionMap; return regionMap; } String[] items = raw.split(","); for (String item : items) { if (item == null || item.trim().isEmpty()) { continue; } String[] pair = item.split(":"); if (pair.length != 2) { continue; } try { Integer region = Integer.valueOf(pair[0].trim()); Double priority = Double.valueOf(pair[1].trim()); if (priority > 1D) { priority = 1D; } else if (priority < -1D) { priority = -1D; } regionMap.put(region, priority); } catch (Exception ignore) { } } cachedRegionPriorityRaw = raw; cachedRegionPriorityMap = regionMap; return regionMap; } private double[] resolveWeights(int pendingTaskCount, int availableRgvCount) { double timeW = priorityTimeWeight == null ? 0.4D : priorityTimeWeight; double distanceW = priorityDistanceWeight == null ? 0.4D : priorityDistanceWeight; double regionW = priorityRegionWeight == null ? 0.2D : priorityRegionWeight; double capacity = Math.max(1D, availableRgvCount * 2D); double loadFactor = Math.min(1D, pendingTaskCount / capacity); if (loadFactor > 0.7D) { timeW = Math.min(0.55D, timeW + 0.10D); distanceW = Math.max(0.10D, distanceW - 0.05D); } else if (loadFactor < 0.4D) { timeW = Math.max(0.25D, timeW - 0.05D); distanceW = Math.min(0.55D, distanceW + 0.05D); } double sum = Math.abs(timeW) + Math.abs(distanceW) + Math.abs(regionW); if (sum <= 0D) { return new double[]{0.4D, 0.4D, 0.2D}; } return new double[]{timeW / sum, distanceW / sum, regionW / sum}; } private static class RgvRuntimeState { private final BasCircularShuttle shuttle; private final RgvProtocol protocol; private RgvRuntimeState(BasCircularShuttle shuttle, RgvProtocol protocol) { this.shuttle = shuttle; this.protocol = protocol; } } //获取小车取放任务列表失败 public synchronized List>> getWrkMastListAll(List> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) { List>> wrkMastListAll = new ArrayList<>(); List sourceStaNoList = new ArrayList<>(); for (List siteList : siteListAll){ List> wrkMastLists = new ArrayList<>(); try { List wrkMastlistA = new ArrayList<>(); List wrkMastlistB = new ArrayList<>(); List wrkMastlistC = new ArrayList<>(); List wrkMastlistD = new ArrayList<>(); for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) { List wrkMastList = wrkMastService.selectList(new EntityWrapper().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true)); for (WrkMast wrkMast : wrkMastList) { if (!Cools.isEmpty(wrkMast)) { if (siteList.contains(wrkMast.getSourceStaNo())){ if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){ List wrkMastListS = wrkMastService.selectList(new EntityWrapper().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true)); if (wrkMastListS.isEmpty()){ continue; } } else { continue; } long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMast.getModiTime(), new Date()); if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) { sourceStaNoList.add(wrkMast.getSourceStaNo()); if (differenceInSeconds>600000){ wrkMastlistA.add(wrkMast); } else { wrkMastlistC.add(wrkMast); } } else { sourceStaNoList.add(wrkMast.getSourceStaNo()); if (differenceInSeconds>600000){ wrkMastlistB.add(wrkMast); } else { wrkMastlistD.add(wrkMast); } } } } } } wrkMastLists.add(wrkMastlistA); wrkMastLists.add(wrkMastlistB); wrkMastLists.add(wrkMastlistC); wrkMastLists.add(wrkMastlistD); // return wrkMastLists; wrkMastListAll.add(wrkMastLists); } catch (Exception e) { log.error("获取小车取放任务列表失败，异常：" + e); } } return wrkMastListAll; } //获取小车取放任务列表失败 public synchronized List> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) { List> wrkMastLists = new ArrayList<>(); try { List wrkMastlistA = new ArrayList<>(); List wrkMastlistB = new ArrayList<>(); for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) { List wrkMastList = wrkMastService.selectList(new EntityWrapper().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true)); for (WrkMast wrkMast : wrkMastList) { 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("获取小车取放任务列表失败，异常：" + e); return wrkMastLists; } } public synchronized void taskDown(List>> wrkMastListAll) { List rgvNoM = new ArrayList<>(); List rgvNoR = new ArrayList<>(); int wrkMastRunCount = 0; long devperimeter = 0L; try{ for (List> wrkMastLists : wrkMastListAll) { List rgvNoRN = new ArrayList<>(); runRgv: for (List wrkMastList : wrkMastLists) { for (WrkMast wrkMast : wrkMastList) { int[][] stePositionNearby = getStePositionNearby(wrkMast.getSourceStaNo()); if (stePositionNearby==null){ break runRgv; } int[] rgvListRun = new int[stePositionNearby.length]; for (int[] rgvNo:stePositionNearby){ rgvListRun[rgvNo[0]-1] = rgvNo[1]; } for (int rgvNo : rgvListRun){ if (rgvNoRN.contains(rgvNo)){ continue; } BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper().eq("rgv_no", rgvNo)); if (basCircularShuttle.getStatus() != 0){ continue ; } long rgvId = basCircularShuttle.getRgvId(); RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } List wrkMasts = wrkMastService.selectList(new EntityWrapper().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L)); if (!wrkMasts.isEmpty()) { continue; } if (rgvProtocol != null && 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().eq("dev_no", wrkMast.getSourceStaNo())); if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){ if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){ rgvNoM.add(rgvProtocol.getRgvNo()); rgvNoRN.add(rgvProtocol.getRgvNo()); if (wrkMastRunCount == 0){ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000; } wrkMastRunCount++; break; } continue ; } } else { if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){ rgvNoM.add(rgvProtocol.getRgvNo()); rgvNoRN.add(rgvProtocol.getRgvNo()); if (wrkMastRunCount == 0){ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000; } wrkMastRunCount++; break; } continue ; } } if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) { double finalVelocity = 0.0; // 最终速度 (m/s) double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration); if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) { // List basDevpPositions = basDevpPositionService.selectList(new EntityWrapper().orderBy("plc_position", true)); // if (basDevpPositions.isEmpty()) { // log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！"); // break runRgv; // } // List devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions); // // if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){ continue; // } } } rgvNoRN.add(rgvProtocol.getRgvNo()); if (!rgvNoR.contains(rgvProtocol.getRgvNo())){ rgvNoR.add(rgvProtocol.getRgvNo()); } else { continue ; } RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvProtocol.getRgvNo()); rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货 rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //工位1起点 rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0); if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) { // log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); wrkMast.setLogErrTime(new Date()); wrkMast.setLogErrMemo("RGV命令下发失败，RGV号={"+rgvId+"}===>跳过"); wrkMastService.updateById(wrkMast); break runRgv; } log.info("RGV命令下发成功，RGV号={}，任务数据={}", 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; } catch (Exception e) { log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo()); } break runRgv; } } } } } } catch (Exception e){ log.error("RGV取放货启动命令下发失败，任务数据===> "+JSON.toJSON(wrkMastListAll)); return; } try{ for (Integer rgvNo : rgvNoM){ if (wrkMastRunCount==0){ break; } if (rgvNoR.contains(rgvNo)){ continue; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } wrkMastRunCount--; if (rgvProtocol != null && rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getAlarm() == 0) { if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(5,devperimeter))) { log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter); break; } else { log.info("RGV漫游启动命令下发成功，RGV号={}，任务数据={}", rgvNo, "漫游指令，目的地："+devperimeter); } } } } catch (Exception e){ } } //任务完成 public synchronized void rgvCompleteWrkMastSta(int[] autoZ) { for (RgvSlave rgvSlave : slaveProperties.getRgv()) { try { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) { log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol); } // 只有当RGV等待WCS确认、自动 if (rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1() != 0 ) { // log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol); WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo())); if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) { log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast); continue; } boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete) { log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo()); break; } wrkMast.setWrkSts(3L); Date now = new Date(); wrkMast.setAppeTime(now); wrkMast.setCrnEndTime(now); try{ try{ if (reportSwitch){ RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast); ReturnT result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam); if (result.getCode()==200){ wrkMast.setWrkSts(4L); wrkMast.setAppeTime(now); wrkMastService.updateById(wrkMast); continue; }else { log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败1"); } } else { //测试用 wrkMast.setWrkSts(4L); wrkMast.setAppeTime(now); wrkMastService.updateById(wrkMast); 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("测试数据"); wrkMastService.insert(wrkMast1); } continue; } } catch (Exception e){ log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败，异常信息："+e); } } 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("小车复位失败，小车号{}！", rgvProtocol.getRgvNo()); break; } } } catch (Exception e) { log.error("小车复位线程报错！" + e); } } } public synchronized void rgvCancelWrkMastSta() { for (RgvSlave rgvSlave : slaveProperties.getRgv()) { try { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) { log.info("{}号小车等待wcs取消，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol); } // 只有当RGV等待WCS确认、自动 if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1() != 0 ) { RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvProtocol.getRgvNo()); rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1()); rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式: 取消 rgvCommand.setSourceStaNo1((short)-1); //工位1起点 rgvCommand.setDestinationStaNo1((short)-1); //工位1目标站点 // rgvCommand.setCommand((short) 1); //工位1任务确认 // rgvCommand.setRgvSome((short) 1); if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) { // log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); // wrkMast.setLogErrTime(new Date()); // wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过"); // wrkMastService.updateById(wrkMast); continue; } log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("wrk_no", rgvCommand.getTaskNo1().longValue()).eq("rgv_no",rgvCommand.getRgvNo())); if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) { log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast); continue; } Date now = new Date(); wrkMast.setWrkSts(1L); wrkMast.setRgvNo(0); wrkMast.setAppeTime(now); wrkMast.setLogErrTime(now); wrkMast.setLogErrMemo("RGV申请取消任务，RGV号={"+rgvProtocol.getRgvNo()+"}，取消时间："+now); wrkMastService.updateById(wrkMast); } } catch (Exception e) { log.error("小车取消线程报错！" + e); } } } /* * 小车复位 * */ public synchronized boolean rgvComplete(Integer rgvNo) { try { // 命令下发区 -------------------------------------------------------------------------- if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) { log.error("RGV命令下发失败，RGV号={}", rgvNo); return false; } else { log.info("RGV命令下发成功，RGV号={}", rgvNo); return true; } } catch (Exception e) { log.error("RGV命令下发失败，RGV号={}。异常：" + e, rgvNo); return false; } } }