From 1291837c2bd406b605f454922bf61a9dd9ecda9b Mon Sep 17 00:00:00 2001 From: yxFwq <1> Date: 星期一, 06 一月 2025 22:21:33 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 15 ++++++++++----- src/main/resources/application.yml | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java index e5df217..ec47558 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -4251,21 +4251,26 @@ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE ) { if (rgvProtocol.getRgvNo()!=1){ + if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){ + continue; + } + rgvAvoidanceXY(rgvProtocol.getRgvNo()); +// return; continue; } - if (!rgvProtocol.getRgvPosI().equals(108)){ + if (!rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){ continue; } Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y(); if (count108Y==0){ - return; + continue; } Integer count108 = wrkMastStaMapper.selectAllWrkCount108(); if (count108==0){ - return; + continue; } rgvAvoidanceXY(rgvProtocol.getRgvNo()); - return; + continue; // BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); // Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //鑾峰彇鍚堝苟骞叉秹椤� // List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge); @@ -4401,7 +4406,7 @@ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣� rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙� rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐� - rgvCommand.setSourceStaNo2((short)117); + rgvCommand.setSourceStaNo2((short)113); rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙� diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml index 34514a9..76704df 100644 --- a/src/main/resources/application.yml +++ b/src/main/resources/application.yml @@ -46,7 +46,7 @@ wms: url: 192.168.18.4:8080/jtwms - rgvOpen: true + rgvOpen: false # 涓嬩綅鏈洪厤缃� wcs-slave: -- Gitblit v1.9.1