#

LSH

2023-07-21 8041ff1c93a86f2f1b9e4ed2b61fa65a01562665

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

@@ -534,6 +534,7 @@
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {

                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -647,7 +648,7 @@
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -693,7 +694,7 @@
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -736,7 +737,7 @@
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -782,7 +783,7 @@
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -811,6 +812,10 @@
        }
    }

    private boolean rgvIoExecuteWrk2To3() {
        return false;
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */