#

lty

2025-09-15 11f6eb0bcda5e562d26ebc2c5ccd0672d66da76d

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

@@ -2815,6 +2815,7 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
                ){

                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2847,6 +2848,23 @@
                    if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            wrkMastSta.setWrkSts(4);  //行走状态
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            boolean rgvComplete = false;

                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            break;
                        }
                        if(wrkMastSta.getWrkSts() == 4){//行走确认
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
@@ -2923,7 +2941,24 @@
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo2() !=0 ){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                        if(wrkMastSta.getWrkSts() == 1){//缺货确认
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            wrkMastSta.setWrkSts(4);  //行走状态
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            boolean rgvComplete = false;

                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            break;
                        }
                        if(wrkMastSta.getWrkSts() == 4){//行走后确认
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
@@ -3300,7 +3335,7 @@
            Short direction = 2;//双工位最终抵达位置
            boolean sign = false;
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
            if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
                wrkMastSta3.setWorkSta(1);
                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
@@ -3400,7 +3435,7 @@
            boolean sign = false;
            Short direction = 1;//工位1方向
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
            if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
                wrkMastSta3.setWorkSta(2);
                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
@@ -3876,13 +3911,50 @@
            boolean pakIn1 = true;
            boolean pakIn2 = true;
            rgvCommand.setRgvNo(rgvId); // RGV编号
            if(wrkMastSta.getWrkSts() == 0){//取货
            if(wrkMastSta.getWrkSts() == 0 || wrkMastSta.getWrkSts() == 4){//初始后行走
                if(wrkMastSta.getWorkSta() == 2){//出库RGV取货行走
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.X_MOVE); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setDirection2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
                }else{  //入库RGV取货行走
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setDirection1(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn1){
                    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
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }else{
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }
            }
            if(wrkMastSta.getWrkSts() == 1){//取货
                if(wrkMastSta.getWorkSta() == 2){//出库RGV取货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setDirection2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
@@ -3919,7 +3991,7 @@
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式:  放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd());   //工位2目标站点
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位2目标站点
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn2 = false;
                }else{  //工位1任务放货