#

zjj

2024-07-19 5d0f7a5aa4ee994782f3f3bcc66e23653a6ac40a

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

@@ -296,8 +296,9 @@
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }
                WrkMastSta wrkMastSta = wrkMastStaMapper.selectById(rgvProtocol.getTaskNo1());
                if (!Cools.isEmpty(wrkMastSta)){
                List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", rgvProtocol.getTaskNo1()));
                if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
                    WrkMastSta wrkMastSta = wrkMastStas.get(0);
                    wrkMastSta.setWrkSts(3);
                    wrkMastStaMapper.updateById(wrkMastSta);
                }
@@ -398,7 +399,7 @@
//                    System.out.println(JSON.toJSONString(staProtocol));
                    if (staProtocol.isAutoing()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,1);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -406,7 +407,7 @@
                        }
                    }else if (staProtocol.isLoading()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,3);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -414,7 +415,7 @@
                        }
                    }else if (staProtocol.isInEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,5);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -422,7 +423,7 @@
                        }
                    }else if (staProtocol.isOutEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,7);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -431,7 +432,7 @@
                    }
                    if (staProtocol.isEmptyMk()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),1,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -440,7 +441,7 @@
                    }
                    if (staProtocol.isFullPlt()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),3,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -449,7 +450,7 @@
                    }
                    if (staProtocol.isCar()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),5,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -458,7 +459,7 @@
                    }
                    if (staProtocol.isLow()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),7,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -486,15 +487,21 @@
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
                    && rgvThread.isPakMk()
            ) {
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>());
                Integer selectCount = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts", 3).ne("wrk_sts", 0));
                if (selectCount>0){
                    log.error("存在执行RGV中任务，但是小车状态空闲！！！");
                    return;
                }

                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_sts",0));
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
@@ -525,7 +532,7 @@
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            rgvCommand.setCommand((short) 0);   //工位1任务确认
            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));