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昨天 e150f2c426fe2bdfd86be1fe0c27215efaacdc83

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

@@ -2970,7 +2970,7 @@
            //如果站点可出禁用，则不生成空盘出库任务
            switch (site){
                case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
                case 2031:staProtocol = devpThread2.getStation().get(site);break;
                case 2031:staProtocol = devpThread2.getStation().get(site + 1);break;
            }
            if (staProtocol == null) {
                return;
@@ -4455,34 +4455,34 @@
            }
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()); //倒数第二个
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()==1043?1044:1103); //倒数第二个
            StaProtocol staProtocol2 = null;  //连续取货任务站点
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta3 = null;//连取两个
            Integer staNo = null;  //与调度
            switch (rgvStn.getStaNo2()){
                case 1043: staNo = 1044;break;
                case 1104: staNo = 1103;break;
            }
            if(staNo != null ){
                staProtocol2 = devpThread.getStation().get(staNo);
                if (staProtocol2 == null) {
                    News.infoNoLog(" - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
                if (staDetl2 == null) {
                    News.error(" - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) || (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
                    //当连续取货站点为相同类型时才能连续取
                    wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                }

            }
//            WrkMastSta wrkMastSta3 = null;//连取两个
//            Integer staNo = null;  //与调度
//            switch (rgvStn.getStaNo2()){
//                case 1043: staNo = 1044;break;
//                case 1104: staNo = 1103;break;
//            }
//            if(staNo != null ){
//                staProtocol2 = devpThread.getStation().get(staNo);
//                if (staProtocol2 == null) {
//                    News.infoNoLog(" - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
//                    continue;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
//                if (staDetl2 == null) {
//                    News.error(" - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
//                    continue;
//                }
//                if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) || (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
//                    //当连续取货站点为相同类型时才能连续取
//                    wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
//                }
//
//            }
            if(rgvProtocol.getTaskNo2() > 9999 && staProtocol.getWorkNo() < 10000){
                continue;
            }
@@ -4543,21 +4543,21 @@
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){

                if(wrkMastSta3 != null ){
                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
                    if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
                        wrkMastSta3.setMk(1);
                        basRgv.setPakAll("0");
                        basRgvService.updateById(basRgv);

                        try{
                            wrkMastStaMapper.updateById(wrkMastSta3);
                            log.error("锁定相隔站点任务");
                        }catch (Exception e){
                            log.error("锁定相隔站点任务失败");
                        }
                    }
                }
//                if(wrkMastSta3 != null ){
//                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
//                    if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
//                        wrkMastSta3.setMk(1);
//                        basRgv.setPakAll("0");
//                        basRgvService.updateById(basRgv);
//
//                        try{
//                            wrkMastStaMapper.updateById(wrkMastSta3);
//                            log.error("锁定相隔站点任务");
//                        }catch (Exception e){
//                            log.error("锁定相隔站点任务失败");
//                        }
//                    }
//                }
                basRgv.setPakOut("0");//出库不允许
                basRgvService.updateById(basRgv);
                rgvThread.setPaking(false);//任务下发锁定

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

@@ -26,9 +26,9 @@
    private Thread thread;
    private Thread armThread;
    private Thread agvThread;
    private Thread rgvTread;
    // 频率
    private int i = 0;
    private int k = 0;
    private int q = 0;
    private boolean rgcWrk = true;

@@ -44,36 +44,32 @@

        agvThread = new Thread(this::agvDispatch);
        agvThread.start();

        rgvTread = new Thread(this::rgvDispatch);
        rgvTread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(1000);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }

                // 演示
//                    mainService.crnDemoOfLocMove1();
                //刷新RGV地图
                mainService.refreshRgvMap();

                // 入出库模式切换函数
//                    mainService.ioConvert();

                // 拣料、并板、盘点再入库
                mainService.stnToCrnStnPick(3);
//                    mainService.stnToCrnStnPick2();

                // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                mainService.generateStoreWrkFile(1); // 组托
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                Thread.sleep(50);

                // 出库  ===>>  堆垛机出库站到出库站
                mainService.crnStnToOutStn(4);
                // 入出库  ===>>  堆垛机入出库作业下发
@@ -92,9 +88,7 @@
                mainService.ledReset();
                //堆垛机衔接任务生成
                mainService.connectWrk(10);

//                    mainService.outOfDevp(11);

                if (i>10){
                    //空托盘自动出库
                    mainService.autoEmptyOut();
@@ -108,28 +102,27 @@
                }
                q++;
                i++;

                /////////////////////////////////////RGV调度/////////////////////////////////////
                k++;

                // RGV  ===>>  小车任务作业下发
                try{
                    //RGV小车出入库取货下发
                    mainService.rgvIoExecute(11);
                    if(k > 2){
                        mainService.rgvOutExecute();
                        k = 0;
                    }
                }catch (Exception e){
                    e.printStackTrace();
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    private void rgvDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {
                // 间隔
                Thread.sleep(400);
                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }
//                //完成小车任务
                mainService.rgvTaskComplete();

                mainService.rgvIoExecute(11);//取货
                mainService.rgvOutExecute();//放货
                mainService.rgvTaskComplete();//任务完成

            } catch (Exception e) {
                e.printStackTrace();
                log.error("RGV  ===>>  小车任务作业下发异常"+e);
            }
        }
    }