#读取地图文件优化

Junjie

2024-11-22 d13a01d1769f29b336e5b9f8612c6d41aaabbbb1

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

@@ -2541,10 +2541,13 @@
                        //判断机械臂拣料站是否空闲
                        StaProtocol staProtocol303 = devpThread.getStation().get(303);
                        StaProtocol staProtocol317 = devpThread.getStation().get(317);
                        if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {

                        List<WrkMast> wrkMasts303 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 25).eq("sta_no", 303));
                        List<WrkMast> wrkMasts317 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 25).eq("sta_no", 317));
                        if (staProtocol303.isAutoing() && !staProtocol303.isLoading() && wrkMasts303.isEmpty()) {
                            //自动、无物
                            targetSta = (short) 303;
                        } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
                        } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading() && wrkMasts317.isEmpty()) {
                            //自动、无物
                            targetSta = (short) 317;
                        } else {
@@ -2697,8 +2700,11 @@
                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        //通知AGV取货
                        agvRestockCall("301-1", barcode);
                        log.info("通知AGV取货，条码号：" + barcode);
                        boolean result = agvRestockCall("301-1", barcode);
                        log.info("机械臂通知AGV取货，条码号：" + barcode);
                        if (result) {
                            barcodeThread.setBarcode("");
                        }
                    }
                }

@@ -2711,8 +2717,11 @@
                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        //通知AGV取货
                        agvRestockCall("302-1", barcode);
                        log.info("通知AGV取货，条码号：" + barcode);
                        boolean result = agvRestockCall("302-1", barcode);
                        log.info("机械臂通知AGV取货，条码号：" + barcode);
                        if (result) {
                            barcodeThread.setBarcode("");
                        }
                    }
                }
            }