#

lsh

2024-05-16 fa971283615611369b9c202f0d51433088e8883c

#

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

@@ -296,7 +296,9 @@
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }

                WrkMastSta wrkMastSta = wrkMastStaMapper.selectById(rgvProtocol.getTaskNo1());
                wrkMastSta.setWrkSts(3);
                wrkMastStaMapper.updateById(wrkMastSta);
            }

        }
@@ -470,6 +472,70 @@
        }
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        try{
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                log.error("RGV不在线");
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
                    && rgvThread.isPakMk()
            ) {
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>());
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
                    if (sign){
                        wrkMastSta.setWrkSts(1);
                        wrkMastStaMapper.updateById(wrkMastSta);
                    } else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
    }
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().intValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }



}

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

@@ -49,6 +49,9 @@
                    mainService.RGVDemoShow2();
                    //任务生成
                    mainService.DevpTaskAndPut();
                    //执行小车货物搬运任务
                    mainService.rgvRunWrkMastFullSta();



                } catch (Exception e) {