*

L

2025-07-12 75bd6db4408e4e7dd40e0ebcc7f6afa074dffbe6

*

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

@@ -100,7 +100,7 @@
    /**
     * 工作类型
     */
    @ApiModelProperty(value= "工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放")
    @ApiModelProperty(value= "工作类型  1:取（叠盘）  2：拆盘   5：满取  6：满放 ")
    @TableField("wrk_type")
    private Integer wrkType;


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

@@ -2356,7 +2356,10 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
//                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                        &&  rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
@@ -3632,7 +3635,7 @@
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
@@ -3678,7 +3681,7 @@
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
@@ -3720,10 +3723,11 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getLoaded1()==0 || (rgvProtocol.getLoaded1()==1 && rgvProtocol.getTaskNo1()!=0) )
                        && (rgvProtocol.getTaskNo1()==0 || (rgvProtocol.getLoaded1()==1 && rgvProtocol.getTaskNo1()!=0) )
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    switch (sign){
@@ -3755,6 +3759,7 @@
                            break;
                        case 6:////提升
//                            signWork = qwe();
                            signWork = rgvRunWrkMastMove(rgvSlave);
                            break;
                        default:
                            break;
@@ -3829,7 +3834,8 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
@@ -3943,7 +3949,8 @@
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
@@ -4024,7 +4031,8 @@
                }
            } else if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==1
                        && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
@@ -4110,7 +4118,10 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -4215,7 +4226,8 @@
            // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==1
                    && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
@@ -4327,7 +4339,10 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -4432,7 +4447,10 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -4525,7 +4543,8 @@
            // 只有当RGV空闲、自动,工位二无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1() == 0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
@@ -4613,7 +4632,10 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -4685,6 +4707,75 @@
        }
        return false;
    }
    public synchronized boolean rgvRunWrkMastMove(RgvSlave rgvSlave) {//满取
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    return false;
                }

                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getWrkType()!=4){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放  4 移动
                            continue;
                        }
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//放
                            sign = rgvAvoidanceXY(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(3);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return true;
                            }else {
                                log.error("3857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());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    /*
    * 有任务但未执行  此时需要调整小车位置
@@ -4717,8 +4808,9 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
@@ -4828,8 +4920,9 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                          //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
@@ -4946,6 +5039,58 @@
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( wrkMastSta.getStaEnd().shortValue());
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2( wrkMastSta.getStaEnd().shortValue());
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }
    }


    /*
    * 小车取货至工位任务