*

lsh

1 天以前 cc53aa90eaf44db5f474af473285187486da8370

*

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

@@ -3206,4 +3206,76 @@
        }
    }



    public synchronized void taskStartDemo() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                if (rgvDetection(rgvSlave)) {
                    String taskNoNow = rgvOtherTaskWrk(rgvSlave);
                    List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
                    boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
                    if (basDevpPositions.isEmpty()) {
                        log.error("获取所有站点信息异常");
                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
                        } catch (Exception e2){
                        }
                        continue;
                    }
                    List<TaskWrk> taskWrkList = new ArrayList<>();
                    List<Integer> staList = new ArrayList<>();
                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
                        TaskWrk taskWrk = deviceDetection(inSta);
                        if (taskWrk != null) {
                            if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
                            taskWrkList.add(taskWrk);
                            staList.add(inSta.getStaNo());
                        }
                    }

                    if (taskWrkList.isEmpty() || staList.isEmpty()) continue;

                    boolean sign = false;

                    if (!sign){
                        //可用区域就近取货
                        //就近排序
                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
                        List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
                        //  半边区域内取货任务
                        for (Integer staNoNow : rangeList) {
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                if (rgvStn.getStaNo().equals(staNoNow)) {
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk != null) {
                                        Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                        for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                            if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                break;
                                            }
                                        }
                                    }
                                    break;
                                }
                            }
                            if (sign) {
                                break;
                            }
                        }
                    }
                }
            } catch (Exception e) {
                log.error("任务生成失败===》异常信息：{}", e.getMessage());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
                } catch (Exception e2){
                }
            }
        }
    }

}

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

@@ -119,6 +119,8 @@
                mainService.crnIoExecuteDemo();
                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStnDemo();
                // 任务下发
                mainService.taskStartDemo();
            } catch (Exception e) {
                e.printStackTrace();
            }