可禁用rgv,不分配任务

pjb

2025-07-28 81f958af697e8d35f0755c670d6c56d69bb14551

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

@@ -365,9 +365,11 @@
                return;
            }

            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));

            LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
            for (int i = 1; i <= 5; i++) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -442,24 +444,25 @@
                                BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
                                long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置
                                if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置
                                    if(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                    if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                        break; // 当前rgv放货完成后，可以取当前任务
                                    }
                                } else {
                                    if(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition) {
                                    if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
                                        break;
                                    }
                                }
                            }
                        }
                    } else {
                        if (count != 0) {
                            break;
                        }
                        if (rgvProtocol.modeType == RgvModeType.AUTO
                                && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                && rgvProtocol.getTaskNo1() == 0
                                && rgvProtocol.getAlarm() == 0) {
                            if (count != 0) {
                                log.error("{}呼叫小车：{}号小车空闲，但工作档显示该小车有任务",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
                                break;
                            }
                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
@@ -479,8 +482,23 @@
                            wrkMast.setRgvCreateTime(now);
                            wrkMastService.updateById(wrkMast);
                            break runRgv;
                        } else {
                            break ; // 只看最近的第一个小车
                        } else  if(rgvProtocol.modeType == RgvModeType.AUTO
                                && rgvProtocol.getTaskNo1() != 0){ // 当前小车放货目标位置在当前任务取货点之后，跳过任务分配，不再则判断下个小车目标位置
                            WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 当前rgv任务
                            if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
                                // 当前rgv任务目标站点
                                BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
                                long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置
                                if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置
                                    if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
                                        break; // 当前rgv放货完成后，可以取当前任务
                                    }
                                } else {
                                    if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
                                        break;
                                    }
                                }
                            }
                        }
                    }
                }