*

lsh

2 天以前 c301a5be2ee3d7c846b56b3385b3b6c1bd9d2ba0

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

@@ -453,15 +453,13 @@
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {

        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        Integer wrkMastRunCount = 0;
        Long devperimeter = 0L;
        for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
            int wrkMastRunCount = 0;
            int wrkMastCount = 0;
            long rgvId = 0;
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
                    wrkMastCount++;
                }
            }
            runRgv:
            for (List<WrkMast> wrkMastList : wrkMastLists) {
                for (WrkMast wrkMast : wrkMastList) {
@@ -493,34 +491,23 @@
                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                            if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                        }
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            } else {
                                if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
                                    if (wrkMastRunCount<wrkMastCount){
                                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,null))) {
                                                log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvId, "漫游指令");
                                                break runRgv;
                                            }
                                            wrkMastRunCount++;
                                            continue ;
                                        }
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        wrkMastRunCount++;
                                        break;
                                    }
                                    break runRgv;
                                    continue ;
                                }
                            }


                            if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
                                double finalVelocity = 0.0;     // 最终速度 (m/s)
@@ -539,6 +526,11 @@
                                }
                            }

                            if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
                                rgvNoR.add(rgvProtocol.getRgvNo());
                            } else {
                                continue ;
                            }

                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
@@ -563,7 +555,6 @@
                            wrkMast.setCrnStrTime(now);
                            try {
                                wrkMastService.updateById(wrkMast);
                                wrkMastCount--;
                                break;
                            } catch (Exception e) {
                                log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
@@ -574,6 +565,34 @@
                }
            }
        }
        try{
            for (Integer rgvNo : rgvNoM){
                if (wrkMastRunCount==0){
                    break;
                }
                if (rgvNoR.contains(rgvNo)){
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                wrkMastRunCount--;
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvProtocol.getAlarm() == 0) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,devperimeter))) {
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令");
                        break;
                    }
                }
            }
        } catch (Exception e){

        }
    }

    //任务完成