#

lsh

2024-07-01 b44c999d0245b8fe2fe8f96f11ec5832d403706d

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

@@ -3736,6 +3736,19 @@
                                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 +4219,15 @@
                        && 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())){