#

lsh

2024-12-28 02e177602212dcf490f80e0c9e869846e02c4d20

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -3608,6 +3608,17 @@
    public synchronized boolean rgvIoExecute(Integer sign) {
        boolean rgvIoExecuteSign = false;
        try{
            int rgvPoi = 101;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                if (rgvProtocol.getRgvNo()==1){
                    rgvPoi = rgvProtocol.getRgvPosI();
                }
            }
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
                boolean signWork = false;
@@ -4250,8 +4261,23 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {

                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvNo()!=1){
                        continue;
                    }
                    if (!rgvProtocol.getRgvPosI().equals(108)){
                        continue;
                    }
                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
                    if (count108Y==0){
                        return;
                    }
                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
                    if (count108==0){
                        return;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    return;
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
@@ -4259,56 +4285,56 @@
//                        log.info("小车存在可执行任务，跳过避让！！4214");
//                        return;
//                    }
                    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) )){
                        signRgv1 = false;
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv2 = false;
                        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) )){
//                        signRgv1 = false;
//                        continue;
//                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                        signRgv2 = false;
//                        continue;
//                    }
                }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;
                    }

                    // 只有当RGV空闲、自动,工位一无物//rgv可用
                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                            && rgvProtocol.getModeType() == RgvModeType.AUTO
                            && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                            && rgvProtocol.getTaskNo1()==0
                            && rgvProtocol.getTaskNo2()==0
                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    ) {
                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                            continue;
                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                            continue;
                        }
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    }
                }
            }
//            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;
//                    }
//
//                    // 只有当RGV空闲、自动,工位一无物//rgv可用
//                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                            && rgvProtocol.getModeType() == RgvModeType.AUTO
//                            && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                            && rgvProtocol.getTaskNo1()==0
//                            && rgvProtocol.getTaskNo2()==0
//                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
//                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
//                    ) {
//                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                            continue;
//                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                            continue;
//                        }
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
//
//                    }
//                }
//            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
@@ -4364,7 +4390,7 @@
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)101);
                rgvCommand.setSourceStaNo1( (short)107);
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号