*

lsh

2025-06-13 1be3b992120afd57db72b53c9819b8e8e74fbf29

*

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

@@ -503,8 +503,8 @@

    //任务完成
    public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
        try {
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
@@ -577,9 +577,67 @@
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
            }
        } catch (Exception e) {
            log.error("小车复位线程报错！" + e);
        }
    }
    public synchronized void rgvCancelWrkMastSta() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) {
                    log.info("{}号小车等待wcs取消，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        wrkMast.setLogErrTime(new Date());
                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
                        wrkMastService.updateById(wrkMast);
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));


                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setAppeTime(now);
                    wrkMast.setLogErrTime(now);
                    wrkMast.setRgvNo(null);

                    wrkMast.setLogErrMemo("RGV申请取消任务，RGV号={"+rgvProtocol.getRgvNo()+"}，取消时间："+now);

                    wrkMastService.updateById(wrkMast);

                }
            } catch (Exception e) {
                log.error("小车取消线程报错！" + e);
            }
        }
    }


 src/main/java/com/zy/core/MainProcess.java

@@ -62,6 +62,8 @@
                    mainService.DevpTaskNoRun();
                    // 任务完成
                    mainService.rgvCompleteWrkMastSta(autoZ);
                    // 任务取消
                    mainService.rgvCancelWrkMastSta();

                } catch (Exception e) {
                    e.printStackTrace();

 src/main/java/com/zy/core/enums/RgvStatusType.java

@@ -13,6 +13,7 @@
    Outbound_operation_in_progress(7, "出站运行中","#21618C"),
    Outbound_completed(8, "出站完成","#85C1E9"),
    ROAM(11, "漫游","#95A5A6"),
    CANCEL(12, "等待取消","#95A5A6"),
    WALK(20, "走行","#F1C40F"),
    WAITING(100, "任务执行完成等待确认","#AED6F1"),
    SOS110(110, "报警","#E74C3C"),

 src/main/java/com/zy/core/enums/RgvTaskModeType.java

@@ -12,6 +12,7 @@
//    GO_ORIGIN(7),    // 回原点
//    BACK_ORIGIN(8),      // 回反原点
//    CLEAR(9),       // 清错
    CANCEL(10),       // 清错
    ;

    public Integer id;