*

lsh

2024-06-18 752c05fdff47a9147dd2a92e72631d3fd2c89dca

*

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

@@ -2548,7 +2548,7 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta() {
        boolean wrkEnable = false;
        try{
            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -2605,7 +2605,7 @@
                            rgvThread.setPakMk(false);
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                            if (signMap){
                                return;
                                return wrkEnable;
//                                break;
                            }else {
                                log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
@@ -2620,13 +2620,14 @@
                }

            }
            if (!wrkEnable){
                rgvRunWrkMastEmptyStaAvoidance();
            }
//            if (!wrkEnable){
//                rgvRunWrkMastEmptyStaAvoidance();
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return wrkEnable;
    }
    /**
     * 执行小车搬运任务

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

@@ -26,6 +26,7 @@
    private Thread thread;
    // 频率
    private int i = 0;
    private int k = 0;
    private boolean rgcWrk = true;

    /**
@@ -99,14 +100,14 @@
                    /////////////////////////////////////RGV调度/////////////////////////////////////
//
                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
//                    mainService.rgvCompleteWrkMastSta();

//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取
//                    if (rgcWrk){
//                        //执行小车货物搬运任务
                        mainService.rgvRunWrkMastFullSta();
//                        mainService.rgvRunWrkMastFullSta();
//                        rgcWrk = false;
//                    }else {
//                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
@@ -115,6 +116,28 @@


                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    k++;
                    if (i<4) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            boolean rgvIoExecuteSign = mainService.rgvRunWrkMastFullSta();
                            if (rgvIoExecuteSign){
                                k = 0;
                            } else if (k>4){
                                k = 0;
                                mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                            }
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                    }else {
                        i = 0;
                    }
                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

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