#改造

cpT

2025-06-19 60201c8530488c402b8b44b215b8d48c60d6679a

#改造

 src/main/java/com/zy/asrs/entity/BasRgvOpt.java

@@ -158,7 +158,7 @@
        this.wrkNo1 = taskNo;
        this.rgvNo = rgvNo;
        this.sendTime = now;
        this.mode = command.getTaskModeType1().name();
        this.mode = command.getTaskModeTypeString();
        this.sourceRow = rgvPoi;//小车当前位置
        this.sourceSta = command.getSourceStaNo1().intValue();
        this.posSta = command.getDestinationStaNo1().intValue();
@@ -179,6 +179,19 @@
        this.updateBy = 9999L;
        this.memo = "漫游任务触发";
    }
    public BasRgvOpt(Integer taskNo,int rgvNo,int rgvPoi) {
        Date now = new Date();
        this.wrkNo1 = taskNo;
        this.rgvNo = rgvNo;
        this.sendTime = now;
        this.mode = "任务取消";
        this.sourceRow = rgvPoi;//小车当前位置
        this.sourceSta = rgvPoi;
        this.posSta = 0;
        this.updateTime = now;
        this.updateBy = 9999L;
        this.memo = "任务取消";
    }

    public BasRgvOpt(Integer wrkNo1,Integer wrkNo2,Integer rgvNo,Date sendTime,String mode,Integer sourceRow,Integer sourceBay,Integer sourceLev,Integer sourceSta,Integer posRow,Integer posBay,Integer posLev,Integer posSta,Integer response,Date updateTime,Long updateBy,String memo) {
        this.wrkNo1 = wrkNo1;

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

@@ -516,7 +516,7 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                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
@@ -577,15 +577,6 @@
                        }
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ){
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
@@ -610,20 +601,9 @@
                ) {

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    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(4, rgvCommand))) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(6, 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));
@@ -636,10 +616,9 @@

                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setRgvNo(null);
                    wrkMast.setRgvNo(0);
                    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);


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

@@ -13,10 +13,10 @@
    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"),
    CANCEL(101, "等待取消","#95A5A6"),
    WALK(20, "走行","#F1C40F"),
    WAITING(100, "任务执行完成等待确认","#AED6F1"),
    WAITING101(101, "任务执行完成等待确认","#AED6F1"),
//    WAITING101(101, "任务执行完成等待确认","#AED6F1"),
    SOS110(110, "报警","#E74C3C"),
    SOS(999, "未知","#FF0000")
    ;

 src/main/java/com/zy/core/model/command/RgvCommand.java

@@ -107,6 +107,29 @@
        this.taskMode2 = RgvTaskModeType.get(type2).id.shortValue();
    }

    public String getTaskModeTypeString() {
        switch (taskModeType1){
            case PUT:
                return "放货";
            case NONE:
                return "完成";
            case FETCH:
                return "取货";
            case FETCH_PUT:
                return "取放货";
            case X_MOVE:
                return "站位移转";
            case FETCH_5:
                return "满取";
            case PUT_6:
                return "满放";
            case CANCEL:
                return "清错";
            default:
                return "未知";
        }
    }

    public static void main(String[] args) {
        Date date = new Date();
        Calendar cal = Calendar.getInstance();

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -139,6 +139,10 @@
                        Long aLong = (Long) task.getData();
                        rgvOpt(aLong);
                        write5(aLong);
                    //工位1写入取消数据
                    case 6:
                        rgvOpt();
                        write6();
                        break;
                    default:
                        break;
@@ -374,6 +378,15 @@
            log.error("RGV写入命令保存失败！！");
        }
    }
    private void rgvOpt() {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI());
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
    }
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
@@ -525,6 +538,15 @@
        }
    }

    private void write6(){
        try {
            siemensNet.Write("DB24.11.1", true);

        } catch (Exception ignore) {
            log.error("写入RGV plc工位1漫游数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private boolean write3(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");