From 35c3d65ff0926fc7516c8f26c08c63b807806e3a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 18 七月 2023 08:55:34 +0800
Subject: [PATCH] RgvNode增加任务号

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   23 +++++++++++++++++++----
 1 files changed, 19 insertions(+), 4 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 5be7d4a..d4fda9b 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -647,7 +647,7 @@
                             continue;
                         }
                         //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
-                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
+                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
 
                         //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                         RgvCommand rgvCommand = new RgvCommand();
@@ -693,7 +693,7 @@
                             continue;
                         }
                         //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
-                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
+                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
 
                         //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                         RgvCommand rgvCommand = new RgvCommand();
@@ -736,7 +736,7 @@
                             continue;
                         }
                         //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
-                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
+                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
 
                         //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                         RgvCommand rgvCommand = new RgvCommand();
@@ -782,7 +782,7 @@
                             continue;
                         }
                         //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
-                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), true);
+                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
 
                         //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                         RgvCommand rgvCommand = new RgvCommand();
@@ -1794,11 +1794,26 @@
                     wrkMast1.setWrkSts(27L);//27.RGV鏀捐揣瀹屾垚
                 }
 
+                //瑙ｉ攣璺緞
+                RgvUtils.unLockPath(wrkMast1.getRgvNo());
+
                 wrkMast1.setModiTime(now);
                 if (wrkMastMapper.updateById(wrkMast1) == 0) {
                     log.error("宸ヤ綅1淇敼宸ヤ綔妗ｇ姸鎬佸け璐ワ紒锛侊紝宸ヤ綔鍙�={}", wrkMast1.getWrkNo());
                 }
 
+                //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+                RgvCommand rgvCommand = new RgvCommand();
+                rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+                rgvCommand.setAckFinish1((short) 1);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+                rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 宸ヤ綅1浠诲姟妯″紡:  鏃�
+                rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+                if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
+                    //step=2,宸ヤ綅1銆�2浠诲姟纭锛�   step=4锛屽伐浣�1纭锛�     step=5锛屽伐浣�2浠诲姟纭
+                    log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+                }
+
 //                //宸ヤ綅1鍙栬揣瀹屾垚鍚庯紝宸ヤ綅2鏄棤璐х┖闂茬姸鎬佹椂锛屽噯澶囩粰宸ヤ綅2鍙戜换鍔★紝纭鏄惁鏈夊緟鎵цRGV浠诲姟
 //                if (rgvProtocol.getModeType() == RgvModeType.AUTO
 //                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0

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