*

lsh

2025-06-05 49cd991d855e1367f06e95a951af992f04724783

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

@@ -493,6 +493,9 @@
                                if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+1000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
@@ -502,6 +505,9 @@
                                if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+1000;
                                        }
                                        wrkMastRunCount++;
                                        break;
                                    }
@@ -578,7 +584,7 @@
                if (rgvProtocol == null) {
                    continue;
                }

                wrkMastRunCount--;
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
@@ -588,7 +594,6 @@
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令");
                        break;
                    }
                    wrkMastRunCount--;
                }
            }
        } catch (Exception e){