#改造

cpT

2025-06-22 87b052cbd5bb44bf90ac4e9c4aeaf1cdcf5acf63

#改造

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

@@ -80,8 +80,8 @@
    private boolean reportSwitchAuto;

    /*
    * 验证许可证是否有效
    * */
     * 验证许可证是否有效
     * */
    public synchronized boolean licenseVerify() {
        try{
//            if (true) {
@@ -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) {
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                    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
@@ -577,6 +577,15 @@
                        }
                    } 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);
@@ -601,7 +610,15 @@
                ) {

                    RgvCommand rgvCommand = new RgvCommand();
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(6, 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))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        continue;

 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(101, "等待取消","#95A5A6"),
    CANCEL(12, "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")
    ;