#

lsh

2024-10-10 884b6830e83c280e55acbf29524c63ce225c4c5d

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

@@ -483,7 +483,7 @@
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
@@ -2319,6 +2319,7 @@
                        param.setIoType(10);
                        param.setSourceStaNo(122);
                        param.setLocType1((short)1);
                        param.setRgvNo(rgvProtocol.getRgvNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/empty/loc/v1")
@@ -3379,6 +3380,26 @@
                if (!staProtocol.isLoading()){
                    continue;
                }
                StaProtocol staProtocol120 = devpThread.getStation().get(120);
                if (staProtocol120 == null) {
                    continue;
                } else {
                    staProtocol120 = staProtocol120.clone();
                }

                if (staProtocol120.isLoading()){
                    continue;
                }
                StaProtocol staProtocol121 = devpThread.getStation().get(121);
                if (staProtocol121 == null) {
                    continue;
                } else {
                    staProtocol121 = staProtocol121.clone();
                }

                if (staProtocol121.isLoading()){
                    continue;
                }
//                if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
//                    log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
//                }
@@ -3736,6 +3757,19 @@
                                continue;
                            }
                        }
                        BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }
                        StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                        if (staProtocols == null) {
                            log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }


                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
@@ -4206,7 +4240,15 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {

                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
//                    if (!wrkMastStaList.isEmpty()){
//                        log.info("小车存在可执行任务，跳过避让！！4214");
//                        return;
//                    }
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){