*

hmpc

2024-10-22 2752662df7213c0432cc276cc3b5948faffe6ddd

*

 src/main/java/com/zy/asrs/controller/OpenController.java

@@ -74,7 +74,7 @@


    private void auth(String appkey, Object obj, HttpServletRequest request) {
        log.info("{}接口被访问；appkey:{}；请求数据：{}", "open/sensorType/list/auth/v1", appkey, JSON.toJSONString(obj));
//        log.info("{}接口被访问；appkey:{}；请求数据：{}", "open/sensorType/list/auth/v1", appkey, JSON.toJSONString(obj));
        request.setAttribute("cache", obj);
        if (!auth) {
            return;

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

@@ -146,6 +146,8 @@
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists){
            for (WrkMast wrkMast: wrkMastList){
                log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

                rgvId++;
                BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
@@ -157,7 +159,6 @@
                        && rgvProtocol.getAlarm() == 0){
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
@@ -169,6 +170,8 @@
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        break runRgv;
                    }
                    log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                    wrkMast.setWrkSts(2L);
                    wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                    wrkMast.setAppeTime(new Date());
@@ -200,7 +203,9 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO

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

@@ -14,6 +14,7 @@
    Outbound_completed(8, "出站完成","#2196F3"),
    ROAM(11, "漫游","#2196F3"),
    WAITING(100, "任务执行完成等待确认","#2196F3"),
    SOS110(110, "报警","#2196F3"),
    SOS(999, "未知","#2196F3")
    ;