From 3d40ce7e16a9e53bad6637bbed824507f06148b4 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期一, 26 五月 2025 10:20:51 +0800
Subject: [PATCH] #ZH
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 91 +++++++++++++++++++++++----------------------
1 files changed, 47 insertions(+), 44 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 540bbb8..5af02a5 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -206,7 +206,7 @@
TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -509,7 +509,7 @@
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -828,7 +828,7 @@
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
@@ -1056,7 +1056,7 @@
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1541,46 +1541,6 @@
Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- if (!sign) {
- // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
- for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
- if (rgvStnOut.getStaNo().equals(outStaNo)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- break;
- }
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- }
if (!sign && staList.size()==1){
if (rgvOtherIDLEOther(rgvSlave)){
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
@@ -1608,6 +1568,49 @@
}
}
+ if(!sign){
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ if (!sign) {
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+
if (!sign) {
for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
--
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