rgv取空托调度优化

pjb

2025-07-25 0f23bd234becce8bcb280a11513992a96c8ad734

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

@@ -379,7 +379,7 @@
            for (WrkMast wrkMast : wrkMasts) {
                Integer rgvSstaNo = wrkMast.getRgvSstaNo();
                // 1090，1089,1086,1083 按1083站点位置计算，能取1083，就能取1090，1089，1086，避免任务延迟下发方案一直给1083发
                if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086) {
                if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086 || rgvSstaNo == 1105) {
                    rgvSstaNo = 1083;
                }
                BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 站点
@@ -407,13 +407,14 @@
//                    log.info("取货站点：{}，后面最近小车：{},状态:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
                    int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
                    if(wrkMast.getIoType() == 10 || wrkMast.getIoType() == 110 || wrkMast.getSourceStaNo() == 1034) {
                        if (count != 0) {
                            continue;
                        }
                        if (rgvProtocol.modeType == RgvModeType.AUTO
                                && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                && rgvProtocol.getTaskNo1() == 0
                                && rgvProtocol.getAlarm() == 0) {
                            if (count != 0) {
                                log.error("{}呼叫小车：{}号小车空闲，但工作档显示该小车有任务",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
                                break ;
                            }
                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
@@ -433,6 +434,23 @@
                            wrkMast.setRgvCreateTime(now);
                            wrkMastService.updateById(wrkMast);
                            break runRgv;
                        } else if(rgvProtocol.modeType == RgvModeType.AUTO
                                && rgvProtocol.getTaskNo1() != 0){ // 当前小车放货目标位置在当前任务取货点之后，跳过任务分配，不再则判断下个小车目标位置
                            WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 当前rgv任务
                            if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
                                // 当前rgv任务目标站点
                                BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
                                long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置
                                if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置
                                    if(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                        break; // 当前rgv放货完成后，可以取当前任务
                                    }
                                } else {
                                    if(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition) {
                                        break;
                                    }
                                }
                            }
                        }
                    } else {
                        if (count != 0) {