From 242bbccea6fd21c130f639cf7b9c6aa95d41fe44 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期二, 16 一月 2024 11:12:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 247 ++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 204 insertions(+), 43 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 93dec60..47ec31e 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -148,13 +148,13 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+ && staProtocol.getWorkNo() == 0
&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
-// staProtocol.setWorkNo((short)9999);
+// staProtocol.setWorkNo((short)32222);
// staProtocol.setStaNo((short)172);
// devpThread.setPakMk(staProtocol.getSiteId(), false);
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -228,6 +228,62 @@
}
/**
+ * 缁勬墭
+ * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿閫氱煡妗佹灦鐮佸灈
+ */
+ public synchronized void generateStoreWrkFileFull2LouM() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鐮佸灈鍙�
+ for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+
+ if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals(" ")) {
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ continue;
+ }
+ } else {
+ continue;
+ }
+
+ // 鑾峰彇鐮佸灈鍙ｄ俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk()
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
+ ) {
+ try {
+ BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
+ if (basDevp.getReportSign()>0){
+ continue;
+ }
+ basDevp.setBarcode(barcode);
+ basDevp.setReportSign(1);
+ basDevpService.updateById(basDevp);
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }
+ }
+
+ /**
* wms鍏ュ簱
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
*/
@@ -235,7 +291,7 @@
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
+ for (DevpSlave.Sta inSta : devp.getInWmsSta()) {
// 鑾峰彇鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -246,13 +302,13 @@
}
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
- if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
- continue;
- }
+// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
+// continue;
+// }
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
+ && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
&& staProtocol.isPakMk()) {
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -423,6 +479,10 @@
continue;
} else {
staProtocol = staProtocol.clone();
+ }
+ BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
+ if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
+ continue;
}
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
@@ -1343,7 +1403,7 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+ crnCommand.setTaskNo((short) 63333); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
@@ -1508,8 +1568,6 @@
if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
crnStn = crnStn1;
break;
- } else {
- continue;
}
}
if(Cools.isEmpty(crnStn)){
@@ -1780,8 +1838,6 @@
if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
crnStn = crnStn1;
break;
- } else {
- continue;
}
}
if(Cools.isEmpty(crnStn)){
@@ -2672,7 +2728,7 @@
}
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- if (crnProtocol.getTaskNo() == 9999) {
+ if (crnProtocol.getTaskNo() == 32222) {
// 鍫嗗灈鏈哄浣�
crnThread.setResetFlag(true);
} else {
@@ -2959,6 +3015,7 @@
*/
public synchronized void storeEmptyPlt() {
for (DevpSlave devp : slaveProperties.getDevp()) {
+ if (devp.getId()==1) continue;
// 閬嶅巻绌烘澘鍏ュ簱鍙�
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
// 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
@@ -2972,7 +3029,7 @@
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
+ && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -3012,6 +3069,108 @@
}
/**
+ * 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
+ */
+ public synchronized void storeEmptyPlt2() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ if (devp.getId()==2) continue;
+ // 閬嶅巻绌烘澘鍏ュ簱鍙�
+ for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 绔欑偣鏉′欢鍒ゆ柇
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
+ try {
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
+ if (Cools.isEmpty(wrkMastSta)){
+ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
+ wrkMastSta1.setType(2);
+ wrkMastSta1.setWrkType(1);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
+ wrkMastStaMapper.insert(wrkMastSta1);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ */
+ public synchronized void storeEmptyPlt3() {
+ try{
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿
+ ) {
+ try {
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+
+ SearchLocParam param = new SearchLocParam();
+ param.setIoType(10);
+ param.setSourceStaNo(122);
+ param.setLocType1((short)1);
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/empty/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
+ if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+ if (Cools.isEmpty(wrkMastSta)){
+ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),0);
+ wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
+ wrkMastSta1.setType(2);
+ wrkMastSta1.setWrkType(6);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
+ wrkMastStaMapper.insert(wrkMastSta1);
+ }
+ }
+ } else {
+ log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }catch (Exception e){
+ log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
+ log.error("3933琛�"+e);
+ }
+ }
+
+ /**
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
public synchronized void ledExecute() {
@@ -3044,6 +3203,7 @@
// 鍑哄簱妯″紡
switch (wrkMast.getIoType()) {
case 1:
+ case 202:
ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
break;
case 10:
@@ -3082,27 +3242,28 @@
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
// 鑾峰彇LED绾跨▼
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
- continue;
- }
+// // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
+// if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
+// continue;
+// }
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (led.getId() == 7) {
+// if (led.getId() == 7) {
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
log.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());
continue;
} else {
ledThread.setLedMk(false);
}
- } else {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.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());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
- }
+// }
+// else {
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+// log.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());
+// continue;
+// } else {
+// ledThread.setLedMk(false);
+// }
+// }
}
@@ -3851,7 +4012,7 @@
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
- && staProtocol.getWorkNo() == 0
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
//浠诲姟瀹屾垚
@@ -3945,7 +4106,7 @@
int[] staNos=new int[]{144};//(1妤�1涓创鏍囦綅,鏍规嵁鐜板満淇敼)
for (int staNo : staNos){
BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp.getWrkNo()<9990){
+ if ((basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>19999) && basDevp.getWrkNo()!=32222){
continue;
}
WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
@@ -3971,7 +4132,7 @@
log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
continue;
}
- if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo().shortValue())){
+ if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -4023,7 +4184,7 @@
) {
log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
- if (rgvProtocol.getTaskNo1()==29999){
+ if (rgvProtocol.getTaskNo1()==(short)32222){
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
@@ -4049,7 +4210,7 @@
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
if (!Cools.isEmpty(wrkMast)){
// 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo());
if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
continue;
@@ -4061,7 +4222,7 @@
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
- if (rgvProtocol.getTaskNo2()==29999){
+ if (rgvProtocol.getTaskNo2()==(short)32222){
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
@@ -4086,7 +4247,7 @@
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
if (!Cools.isEmpty(wrkMast)){
// 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo());
if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
continue;
@@ -4129,7 +4290,7 @@
&& rgvProtocol.getLoaded1()==0
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
if (basRgvMap == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
continue;
@@ -4168,7 +4329,7 @@
}
}
/**
- * 鎵ц灏忚溅鎼繍浠诲姟
+ * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
*/
public synchronized void rgvRunWrkMastEmptyStaPut() {//鎷嗙洏
try{
@@ -4184,7 +4345,7 @@
continue;
}
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
@@ -4396,7 +4557,7 @@
continue;
}
boolean sign = false;
- if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//鍙�
+ if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//婊″彇
sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
}else {
continue;
@@ -4495,10 +4656,10 @@
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && (rgvProtocol.getTaskNo1()==0 || rgvProtocol.getTaskNo1()==9999)
- && (rgvProtocol.getTaskNo2()==0 || rgvProtocol.getTaskNo2()==9999)
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}
@@ -4520,7 +4681,7 @@
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)29999); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
//basRgvMap.getLockStartRoute().shortValue()
rgvCommand.setSourceStaNo1( (short)101);
@@ -4543,7 +4704,7 @@
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2((short)29999); // 宸ヤ綅2宸ヤ綔鍙�
+ 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.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
--
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