| src/main/java/com/zy/asrs/controller/RgvController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/protocol/TaskProtocol.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/RgvThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/controller/RgvController.java
@@ -171,6 +171,8 @@ //执行 issuedPut.setTaskNo(Long.valueOf(taskNo)); issuedPut.setTaskStatus(3); issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo()); issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId()); issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus())); issuedPut.setTargetPosition(basDevpPosition.getPlcPosition()); issuedPut.setIsRunning(1); @@ -256,6 +258,8 @@ //执行 issuedTake.setTaskNo(Long.valueOf(taskNo)); issuedTake.setTaskStatus(2); issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo()); issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId()); issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus())); issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition()); issuedTake.setIsRunning(1); @@ -265,6 +269,8 @@ //执行 issuedPut.setTaskNo(Long.valueOf(taskNo)); issuedPut.setTaskStatus(3); issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo()); issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId()); issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus())); issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition()); issuedPut.setIsRunning(1); src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1734,6 +1734,8 @@ //执行 issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo())); issuedTake.setTaskStatus(2); issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo()); issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId()); issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus())); issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition()); issuedTake.setIsRunning(1); @@ -1742,6 +1744,8 @@ issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo())); issuedPut.setTaskStatus(3); issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo()); issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId()); issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus())); issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition()); issuedPut.setIsRunning(1); src/main/java/com/zy/core/model/protocol/TaskProtocol.java
@@ -11,6 +11,7 @@ private volatile Long taskNo; // 任务号（主属性） private volatile Long targetPosition = 0L; // 目标位置 private volatile Integer targetPositionStaNo = 0; // 目标位置 private volatile Integer targetPositionStaNoPlcId = 1; // 目标位置 private volatile int isRunning = 0; // 运行状态 0：初始 1：等待执行 2：执行中 3：执行中断 4：完结
@@ -14,6 +14,7 @@ import com.zy.asrs.service.BasRgvService; import com.zy.asrs.utils.RouteUtils; import com.zy.asrs.utils.TrackRangeUtils; import com.zy.core.DevpThread; import com.zy.core.ThreadHandler; import com.zy.core.cache.*; import com.zy.core.enums.RgvModeType; @@ -25,6 +26,7 @@ import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.model.protocol.RgvTaskProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.model.protocol.TaskProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; @@ -293,7 +295,21 @@ } if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50 && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){ // Thread.sleep(100); Thread.sleep(100); if (taskProtocol.getTaskStatus()==3){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo()); if (staProtocol == null ) { continue; } // 判断是否满足入库条件 if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0 ){ System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>"); continue; } } TaskProtocol issued = new TaskProtocol(taskProtocol); write(issued); taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
