From 1f25a5804e4561db6697c42ff5187d31971ae9ca Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 18 四月 2024 20:07:05 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/gdykwcs' into gdykwcs

---
 src/main/java/com/zy/core/thread/RgvThread.java              |    2 +-
 src/main/java/com/zy/asrs/controller/RgvController.java      |   11 +++++++++++
 src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java |    2 ++
 src/main/java/com/zy/asrs/utils/RouteUtils.java              |    5 ++---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java  |   20 +++++++++++++-------
 src/main/java/com/zy/core/MainProcess.java                   |    2 +-
 src/main/java/com/zy/asrs/controller/CrnController.java      |    8 +-------
 7 files changed, 31 insertions(+), 19 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index e076aaf..e4fcfca 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -385,13 +385,7 @@
         return crnControl(command)?R.ok():R.error();
     }
 
-    @ManagerAuth(memo = "瑙i攣灏忚溅")
-    @PostMapping("/lock")
-    public R lock(CrnOperatorParam param){
-        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getCrnNo());
-        rgvThread.setPakMk(true);
-        return R.ok();
-    }
+
 
 //    @ManagerAuth(memo = "鏆傚仠")
 //    @PostMapping("/operator/pause")
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 06c8f03..3be5b88 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -5,6 +5,7 @@
 import com.core.common.R;
 import com.core.exception.CoolException;
 import com.zy.asrs.domain.enums.RgvStatusType;
+import com.zy.asrs.domain.param.CrnOperatorParam;
 import com.zy.asrs.domain.param.RgvOperatorParam;
 import com.zy.asrs.domain.vo.RgvMsgTableVo;
 import com.zy.asrs.domain.vo.RgvStateTableVo;
@@ -58,6 +59,14 @@
     private MainServiceImpl mainService;
     @Autowired
     private LocMastService locMastService;
+
+    @ManagerAuth(memo = "瑙i攣灏忚溅")
+    @PostMapping("/lock")
+    public R lock(CrnOperatorParam param){
+        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo());
+        rgvThread.setPakMk(true);
+        return R.ok();
+    }
 
     @PostMapping("/table/rgv/state")
     @ManagerAuth(memo = "RGV淇℃伅琛�")
@@ -217,6 +226,8 @@
         return rgvControl(command)? R.ok(): R.error();
     }
 
+
+
     @ManagerAuth(memo = "浠诲姟瀹屾垚")
     @PostMapping("/operator/taskComplete")
     public R rgvTaskComplete(RgvOperatorParam param){
diff --git a/src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java b/src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java
index f85698e..120bc71 100644
--- a/src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java
+++ b/src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java
@@ -35,4 +35,6 @@
     // 鐩爣搴撲綅-灞�
     private Short lev;
 
+    private Integer rgvNo;
+
 }
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 53fa3c5..95542ba 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -233,12 +233,14 @@
                             devpThread.setPakMk(staProtocol.getSiteId(), false);
                             boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                             log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
+
+                            ledThread.errorReset();
+                            log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
+
                             if (!result) {
                                 News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
 
                                 throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-                            }else {
-                                ledThread.errorReset();
                             }
                         } else {
                             staProtocol.setWorkNo(wrkNo);
@@ -600,12 +602,16 @@
                                     staProtocol.setWorkNo(wrkMast.getWrkNo());
                                     staProtocol.setStaNo((short)161);
                                     devpThread.setPakMk(staProtocol.getSiteId(), false);
-                                    ledThread.errorReset();
+
                                     boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                     if (!result) {
                                         log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
                                     }
                                     log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+
+                                    ledThread.errorReset();
+                                    log.error("鐩樼偣鍚巐ed閿欒鍒犻櫎");
+
                                 } catch (Exception e) {
                                     log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
                                     e.printStackTrace();
@@ -1700,7 +1706,7 @@
             // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
             if (!commands.isEmpty()) {
                 if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
-                    News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+                    News.error("{}鍙稬ED鏄剧ず鍐呭鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
                     continue;
                 }
             }
@@ -1751,9 +1757,8 @@
                 if (ledThread == null) {
                     continue;
                 }
-                ledThread.errorReset();
                 if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-                    News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+                    News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
                 }
             }
         }
@@ -2488,7 +2493,7 @@
                             break;
                         }
                         WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
-                        wrkMast1.setUpdMk("Y");
+                        wrkMast1.setPdcType("Y");
 
                         wrkMastService.updateById(wrkMast1);
 
@@ -2536,6 +2541,7 @@
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
                         && rgvProtocol.getLoaded1()==0
                         && rgvProtocol.getTaskNo1() == 0
+                        && rgvThread.isPakMk()
                 ) {
                     BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                     if (basRgvMap == null) {
diff --git a/src/main/java/com/zy/asrs/utils/RouteUtils.java b/src/main/java/com/zy/asrs/utils/RouteUtils.java
index 32f7b51..22d0b62 100644
--- a/src/main/java/com/zy/asrs/utils/RouteUtils.java
+++ b/src/main/java/com/zy/asrs/utils/RouteUtils.java
@@ -235,12 +235,11 @@
     public static Short CrnStaEnd(Integer endSta,Integer souSta) {
         switch (endSta) {
             case 100:
+            case 102:
+            case 111:
                 if (souSta == 118){
                     return (short)119;
                 }
-                return (short)149;
-            case 102:
-            case 111:
                 return 149;
             default:
                 return endSta.shortValue();
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 3341f0a..de7ccb0 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -45,7 +45,7 @@
                     }
 
                     // 婕旂ず
-                    mainService.crnDemoOfLocMove1();
+//                    mainService.crnDemoOfLocMove1();
                     //鍒锋柊RGV鍦板浘
                     mainService.refreshRgvMap();
 
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index ede2cbc..72b72ea 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -364,7 +364,7 @@
         array[2] = command.getTaskMode1();
         array[3] = command.getSourceStaNo1();
         array[4] = command.getDestinationStaNo1();
-        siemensNet.Write("DB100.10", command.getCommand());
+//        siemensNet.Write("DB100.10", command.getCommand());
 
         OperateResult result = siemensNet.Write("DB100.0", array);
 

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