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1

2025-05-13 7c315b53808a66a2f1faf90930ecffdc85ba455f

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

@@ -1400,22 +1400,13 @@
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            if (rgvProtocolOther.getModeType().equals(RgvModeType.AUTO)
                    && rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)
                    && rgvProtocolOther.getLoaded()==0) {
                return false;
            }
        if (rgvProtocol.getLoaded()!=0) {
            return false;
        }
        return true;
    }
    public boolean rgvOtherIDLE(RgvSlave slave) {
    public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

@@ -1427,15 +1418,15 @@
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            if (rgvProtocolOther.getModeType().equals(RgvModeType.AUTO)
                    && rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)
                    && rgvProtocolOther.getLoaded()==0) {
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
            if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
                    >=
                    Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
                return false;
            }
        }
@@ -1491,7 +1482,7 @@
                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
                        TaskWrk taskWrk = deviceDetection(inSta);
                        if (taskWrk != null) {
                            if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
                            if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
                            taskWrkList.add(taskWrk);
                            staList.add(inSta.getStaNo());
                        }
@@ -1550,10 +1541,9 @@
                                }
                            }
                        }

                        if (!sign){
                        if (!sign && belongToRange.size()==1){
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave,belongToRange.get(0))){
                                    sign=true;
                                }
                            }
@@ -1693,7 +1683,7 @@
                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
                //执行
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
                issuedTake.setTaskStatus(2);
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
@@ -1701,7 +1691,7 @@
                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
                issuedPut.setTaskStatus(3);
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());