| | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | //自动完成任务 |
|---|
| | | //agv取放货任务完成 |
|---|
| | | public synchronized void autoCompleteAGV() { |
|---|
| | | List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>()); |
|---|
| | | for (BasDevp basDevp:basDevps){ |
|---|
| | | DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); |
|---|
| | | StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); |
|---|
| | | if (staProtocol == null) { |
|---|
| | | continue; |
|---|
| | | } else { |
|---|
| | | staProtocol = staProtocol.clone(); |
|---|
| | | } |
|---|
| | | if (basDevp.getWrkNo()!=0){ |
|---|
| | | if (basDevp.getAgvTargetPick()!=0){//取货 |
|---|
| | | staProtocol.setAgvTypeSign((short)0); |
|---|
| | | staProtocol.setStaNo(basDevp.getDevNo().shortValue()); |
|---|
| | | MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); |
|---|
| | | }else if (basDevp.getAgvTargetPlace()!=0){ |
|---|
| | | staProtocol.setAgvTypeSign((short)1); |
|---|
| | | staProtocol.setStaNo(basDevp.getDevNo().shortValue()); |
|---|
| | | MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); |
|---|
| | | } |
|---|
| | | }else { |
|---|
| | | if (basDevp.getAgvTargetPick()!=0){ |
|---|
| | | basDevp.setAgvStartPick(0); |
|---|
| | | basDevpService.updateById(basDevp); |
|---|
| | | }else if (basDevp.getAgvTargetPlace()!=0){ |
|---|
| | | basDevp.setAgvStartPlace(0); |
|---|
| | | basDevpService.updateById(basDevp); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | public synchronized void autoCompleteTask() { |
|---|
| | | List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask(); |
|---|
| | | for (TaskWrk taskWrk : taskWrks) { |
|---|
