#

1

2025-05-14 dcdfc93b50febf61301832d91dfcddcfa1ca5403

#

 src/main/java/com/zy/asrs/controller/TaskWrkController.java

@@ -394,6 +394,22 @@
        }

    }
    @PostMapping(value = "/taskWrk/assign/auth")
    @ManagerAuth(memo = "输送线下发完成")
    public R returnAssign(@RequestParam String taskNo) {
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
        if (!Cools.isEmpty(taskWrk) && taskWrk.getWrkSts()==1){
            taskWrk.setStatus(TaskStatusType.RECEIVE.id);//派发状态
            taskWrk.setWrkSts(2);
            if(!taskWrkService.updateById(taskWrk)){
                return R.error("更新任务状态失败");
            }
            return R.ok();
        }else{
            return R.error("任务状态不对无法跳转");
        }

    }


}

 src/main/java/com/zy/core/model/protocol/TaskProtocol.java

@@ -10,6 +10,7 @@
    private volatile String taskNoDirection; // 任务号（主属性）
    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 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


 src/main/java/com/zy/core/thread/RgvThread.java

@@ -63,6 +63,8 @@
     */
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
    }
@@ -70,21 +72,48 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        boolean connect = this.connect();
        if (connect) {
        connectRgv = this.connect();
        while(!connectRgv){
            try {
                connectRgv = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            // 启动读数据线程
            new Thread(this::readStatusRgv).start();
            }
        }

            // 启动任务下发线程
            new Thread(this::taskIssued).start();
        // 启动读数据线程
        new Thread(this::rgvConnect).start();

            // 启动漫游线程
            new Thread(this::taskWalkIssued).start();
            new Thread(this::taskWalkIssued2).start();
        new Thread(this::readStatusRgv).start();

            // 启动任务完成线程
            new Thread(this::taskComplete).start();
        // 启动任务下发线程
        new Thread(this::taskIssued).start();

        // 启动漫游线程
        new Thread(this::taskWalkIssued).start();
        new Thread(this::taskWalkIssued2).start();

        // 启动任务完成线程
        new Thread(this::taskComplete).start();
    }

    private void rgvConnect() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }
        }
    }

@@ -264,7 +293,7 @@
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            Thread.sleep(100);
//                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -618,6 +647,7 @@

            } else {
                initRgv();
                connectRgv = false;
//                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

 src/main/webapp/views/taskWrk/taskWrk.html

@@ -55,7 +55,7 @@
                                <!--                                        <el-dropdown-item command="showCommand">查看指令</el-dropdown-item>-->
                                <el-dropdown-item command="returnWorkingCondition">重新给堆垛机下发任务</el-dropdown-item>
                                <el-dropdown-item command="changeCommand">修改</el-dropdown-item>
                                <el-dropdown-item command="assign">派发</el-dropdown-item>
                                <el-dropdown-item command="assign">跳转到输送线下发完成</el-dropdown-item>
                                <el-dropdown-item command="complete">完结</el-dropdown-item>
                                <el-dropdown-item command="cancel">取消</el-dropdown-item>
                                <el-dropdown-item command="delete">删除无需上报</el-dropdown-item>
@@ -262,7 +262,7 @@
                //派发任务
                let that = this
                $.ajax({
                    url: baseUrl + "/taskWrk/distribute/auth",
                    url: baseUrl + "/taskWrk/assign/auth",
                    headers: {
                        'token': localStorage.getItem('token')
                    },