#改造

cpT

6 天以前 fe783a3ae2295dba85fd9775b610eb13e4e41f00

#改造

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

@@ -136,7 +136,7 @@
        crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
        crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
        crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
        crnCommand.setCommand((short)1);
//        crnCommand.setCommand((short)1);
        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(5, crnCommand))) {
            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            throw new CoolException("堆垛机命令生成失败");
@@ -210,7 +210,7 @@
        crnCommand.setDestinationPosX(crnStn.getBay().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(crnStn.getLev().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(crnStn.getRow().shortValue());     // 目标库位层
        crnCommand.setCommand((short)1);
//        crnCommand.setCommand((short)1);
        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(5, crnCommand))) {
            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            throw new CoolException("堆垛机命令生成失败");

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

@@ -339,18 +339,18 @@
                continue;
            }
            try {
                Thread.sleep(50);
                Thread.sleep(100);
                rgvRun = RgvRunCache.getRgvRun();
//                System.out.println(JSON.toJSON(rgvRun));

                // 休眠 1 秒
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 100) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                } else {
                    continue;
                }
                if (!deviceDetection()) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    if (!errorRgv.equals("无")){
@@ -367,20 +367,20 @@
                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                }
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    continue;
                }
                if (rgvProtocol.getLoaded() == -1){
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常");
                    continue;
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    continue;
@@ -468,7 +468,7 @@
                        }
                    }
                }
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                rgvRun.setRgvNo(slave.getOtherId());
                RgvRunCache.updateRgvStatus(rgvRun);
            } catch (Exception e) {
@@ -480,7 +480,7 @@
//                    log.error("e2:"+e2.getMessage());
                }
                rgvRun = RgvRunCache.getRgvRun();
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                rgvRun.setRgvNo(slave.getOtherId());
                RgvRunCache.updateRgvStatus(rgvRun);
                continue;