#

yxFwq

2025-01-06 1291837c2bd406b605f454922bf61a9dd9ecda9b

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

@@ -4251,21 +4251,26 @@
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    if (rgvProtocol.getRgvNo()!=1){
                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
                        continue;
                    }
                    if (!rgvProtocol.getRgvPosI().equals(108)){
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        return;
                        continue;
                    }
                    if (!rgvProtocol.getRgvPosI().equals(108) &&  !rgvProtocol.getRgvPosI().equals(119)){
                        continue;
                    }
                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
                    if (count108Y==0){
                        return;
                        continue;
                    }
                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
                    if (count108==0){
                        return;
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    return;
                    continue;
//                    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);
@@ -4401,7 +4406,7 @@
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)117);
                rgvCommand.setSourceStaNo2((short)113);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                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   step=9，回原点 9999任务号