#

lsh

2024-04-03 b3a1f01b15b2cc6969091a4972204593147119e4

#

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

@@ -4094,6 +4094,8 @@
            }
            Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
            boolean signRgv = true;
            boolean signRgv1 = true;
            boolean signRgv2 = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4116,9 +4118,12 @@
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
                        signRgv = false;
                        break;
                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
                        if (rgvProtocol.getRgvNo()==1){
                            signRgv1 = false;
                        }else {
                            signRgv2 = false;
                        }
                    }
                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                        signRgv = false;
@@ -4132,7 +4137,7 @@
                    break;
                }
            }
            if (signRgv){
            if (signRgv &&  (signRgv1 || signRgv2)){
                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4152,7 +4157,6 @@
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                        break;
                    }
                }
            }

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

@@ -486,9 +486,9 @@
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaStart);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd);
        if (ia<=ib){
            return new Integer[]{RouteIndexFarMasReverse(runStaStart,1),RouteIndexFarMasReverse(runStaEnd,2)};
            return new Integer[]{RouteIndexFarMasReverse(1,runStaStart),RouteIndexFarMasReverse(2,runStaEnd)};
        }else {
            return new Integer[]{RouteIndexFarMasReverse(runStaEnd,1),RouteIndexFarMasReverse(runStaStart,2)};
            return new Integer[]{RouteIndexFarMasReverse(1,runStaEnd),RouteIndexFarMasReverse(2,runStaStart)};
        }
//        if (ia<=ib){
//            return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ia),TRACK_POSITION_POSITIVE_SEQUENCE.get(ib)};

 src/main/resources/application.yml

@@ -36,7 +36,7 @@
  enable: false

wms:
  url: 192.168.18.4:8080/jtwms
  url: 127.0.0.1:8080/jtwms

# 下位机配置
wcs-slave: