#cs1

yxFwq

2025-01-03 69be0f1761a382c6c485f054d1f39dee1ecb2fac

#cs1

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

@@ -3608,17 +3608,6 @@
    public synchronized boolean rgvIoExecute(Integer sign) {
        boolean rgvIoExecuteSign = false;
        try{
            int rgvPoi = 101;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                if (rgvProtocol.getRgvNo()==1){
                    rgvPoi = rgvProtocol.getRgvPosI();
                }
            }
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
                boolean signWork = false;
@@ -4647,7 +4636,8 @@
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRoute);
            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRouteL);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){

 src/main/java/com/zy/asrs/utils/RouteUtils.java

@@ -148,7 +148,40 @@
            }
        }
    }

    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMasL(int rgvNo,Integer staNo){
        if (rgvNo==1){
            switch (staNo){
                case 101:
                case 102:
                case 104:
                case 122:
                case 105:
                case 107:
                case 118:
                    return staNo;
                default:
                    return 108;
            }
        }else {
            switch (staNo){
                case 117:
                case 116:
                case 171:
                case 1142:
                case 114:
                case 123:
                case 113:
                case 121:
                case 111:
                    return staNo;
                default:
                    return 110;
            }
        }
    }

    // 获取当前小车未行走的路线集合
    public static List<Integer> getRoute(Integer groupStart,Integer groupEnd){