From 4bf5695d8277ee797d2fec6526c2ce708a553721 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期一, 05 一月 2026 10:40:15 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java | 4 ++
src/main/java/com/zy/system/mapper/ConfigMapper.java | 3 +
src/main/resources/mapper/BasRgvOptMapper.xml | 9 ++++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 31 ++++++++-------
src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java | 3 +
src/main/java/com/zy/system/service/ConfigService.java | 1
src/main/java/com/zy/core/MainProcess.java | 1
src/main/resources/mapper/ConfigMapper.xml | 6 ++
src/main/java/com/zy/asrs/service/BasRgvOptService.java | 2
src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java | 4 ++
10 files changed, 45 insertions(+), 19 deletions(-)
diff --git a/src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java b/src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java
index 97fbeb1..f8f5a61 100644
--- a/src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java
@@ -3,10 +3,11 @@
import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.BasRgvOpt;
import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;
@Mapper
@Repository
public interface BasRgvOptMapper extends BaseMapper<BasRgvOpt> {
-
+ BasRgvOpt getBasRgvOpt(@Param("rgvNo") Integer rgvNo);
}
diff --git a/src/main/java/com/zy/asrs/service/BasRgvOptService.java b/src/main/java/com/zy/asrs/service/BasRgvOptService.java
index 29dd8eb..be15f38 100644
--- a/src/main/java/com/zy/asrs/service/BasRgvOptService.java
+++ b/src/main/java/com/zy/asrs/service/BasRgvOptService.java
@@ -4,5 +4,5 @@
import com.zy.asrs.entity.BasRgvOpt;
public interface BasRgvOptService extends IService<BasRgvOpt> {
-
+ BasRgvOpt getBasRgvOpt(Integer rgvNo);
}
diff --git a/src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java
index fb27c6c..384264f 100644
--- a/src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java
@@ -9,4 +9,8 @@
@Service("basRgvOptService")
public class BasRgvOptServiceImpl extends ServiceImpl<BasRgvOptMapper, BasRgvOpt> implements BasRgvOptService {
+ @Override
+ public BasRgvOpt getBasRgvOpt(Integer rgvNo){
+ return this.baseMapper.getBasRgvOpt(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 155d1b3..900401f 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -43,6 +43,8 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -77,6 +79,8 @@
private WaitPakinMapper waitPakinMapper;
@Autowired
private LocMastService locMastService;
+ @Autowired
+ private ConfigService configService;
@Autowired
private StaDescService staDescService;
@Autowired
@@ -4656,34 +4660,26 @@
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
RgvTaskStatusType type;
Integer targetPosition = 0;
+ String typeNo = null;
if(wrkMastSta.getWrkSts() == 0){
type = RgvTaskStatusType.FETCH; //鍙栬揣
targetPosition = wrkMastSta.getStaStart();
+ typeNo = "2";
}else{
type = RgvTaskStatusType.PUT; //鏀捐揣
targetPosition = wrkMastSta.getStaEnd();
+ typeNo = "3";
}
Date now = new Date();
- if (targetPosition == 1038) {
- System.out.println("灏忚溅涓嬪彂鍛戒护鏃堕棿锛�" +
- new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));
- }
- EntityWrapper<BasRgvOpt> entityWrapper = new EntityWrapper<>();
- entityWrapper.eq("rgv_no", rgvId)
- .orderBy("send_time");
- BasRgvOpt basRgvOpt = basRgvOptService.selectOne(entityWrapper);
+ BasRgvOpt basRgvOpt = basRgvOptService.getBasRgvOpt(rgvId);
// 闃叉閲嶅涓嬪彂鍛戒护
if (basRgvOpt != null) {
- // 鑾峰彇鏈�鏂拌褰曠殑 mode 瀵瑰簲鐨勪换鍔＄被鍨�
- RgvTaskStatusType latestTaskStatus = RgvTaskStatusType.valueOf(basRgvOpt.getMode());
- // 鍒ゆ柇褰撳墠鍛戒护涓庢渶鏂拌褰曟槸鍚︾浉鍚�
- if (latestTaskStatus == type && basRgvOpt.getPosSta().equals(wrkMastSta.getWorkSta())) {
+ if (typeNo.equals(basRgvOpt.getMode()) && basRgvOpt.getPosSta().equals(wrkMastSta.getWorkSta())) {
// 濡傛灉鏈�鏂拌褰曠殑 mode 鍜� posSta 涓庡綋鍓嶅懡浠ょ浉鍚岋紝璁や负鏄噸澶嶅懡浠�
log.error("鍛戒护閲嶅涓嬪彂锛屽綋鍓嶅懡浠や笌鏈�鏂拌褰曠浉鍚岋紝浠诲姟涓嶄笅鍙戯紒");
return false;
}
}
-
rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅宸ヤ綔鍙�
rgvCommand.setTaskStatus(type); // 宸ヤ綅浠诲姟妯″紡: 鍙栬揣
rgvCommand.setTargetPosition(targetPosition); //宸ヤ綅鐩爣绔欑偣
@@ -5723,6 +5719,9 @@
* agv浠诲姟鐢熸垚 Empty
* */
public synchronized void agvTaskCreateR() {
+
+ Config configAGVAUTOIN = configService.selectConfigByCode("AGVAUTOIN");
+
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍑哄簱鍙�
@@ -5762,20 +5761,22 @@
.le("row1", 26)
.orderBy("io_time",true)
);
- }else if(inStaAgv.getStaNo() < 4000){
+ }else if(inStaAgv.getStaNo() < 4000 && Boolean.parseBoolean(configAGVAUTOIN.getValue())){
locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
.eq("loc_sts", "R")
.ge("row1", 28)
.le("row1", 31)
.orderBy("io_time",true));
floorNo = 2;
- }else{
+ }else if(inStaAgv.getStaNo() < 5000){
locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
.eq("loc_sts", "R")
.ge("row1", 32)
.le("row1", 38)
.orderBy("io_time",true));
floorNo = 3;
+ }else{
+ continue;
}
for (LocMast locMast : locMastList){
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7402bd7..b1d46b0 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -31,6 +31,7 @@
private int i = 0;
private int q = 0;
private boolean rgcWrk = true;
+ private int k = 0;
/**
* =====>> 寮�濮嬪伐浣�
diff --git a/src/main/java/com/zy/system/mapper/ConfigMapper.java b/src/main/java/com/zy/system/mapper/ConfigMapper.java
index 9ec6ab3..74fb35f 100644
--- a/src/main/java/com/zy/system/mapper/ConfigMapper.java
+++ b/src/main/java/com/zy/system/mapper/ConfigMapper.java
@@ -3,10 +3,11 @@
import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.system.entity.Config;
import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;
@Mapper
@Repository
public interface ConfigMapper extends BaseMapper<Config> {
-
+ Config selectConfigByCode(@Param("code") String code);
}
diff --git a/src/main/java/com/zy/system/service/ConfigService.java b/src/main/java/com/zy/system/service/ConfigService.java
index 7e31e9a..2e5cd00 100644
--- a/src/main/java/com/zy/system/service/ConfigService.java
+++ b/src/main/java/com/zy/system/service/ConfigService.java
@@ -4,5 +4,6 @@
import com.zy.system.entity.Config;
public interface ConfigService extends IService<Config> {
+ Config selectConfigByCode(String code);
}
diff --git a/src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java b/src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java
index 0a8661c..6483e9f 100644
--- a/src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java
+++ b/src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java
@@ -8,5 +8,9 @@
@Service("configService")
public class ConfigServiceImpl extends ServiceImpl<ConfigMapper, Config> implements ConfigService {
+ @Override
+ public Config selectConfigByCode(String code){
+ return this.baseMapper.selectConfigByCode(code);
+ };
}
diff --git a/src/main/resources/mapper/BasRgvOptMapper.xml b/src/main/resources/mapper/BasRgvOptMapper.xml
index febd94a..2c243a0 100644
--- a/src/main/resources/mapper/BasRgvOptMapper.xml
+++ b/src/main/resources/mapper/BasRgvOptMapper.xml
@@ -24,4 +24,13 @@
</resultMap>
+ <select id="getBasRgvOpt" resultMap="BaseResultMap">
+ SELECT TOP 1 *
+ FROM bas_rgv_opt
+ WHERE rgv_no = #{rgvNo}
+ ORDER BY send_time DESC
+ </select>
+
+
+
</mapper>
diff --git a/src/main/resources/mapper/ConfigMapper.xml b/src/main/resources/mapper/ConfigMapper.xml
index 8673fe5..998340e 100644
--- a/src/main/resources/mapper/ConfigMapper.xml
+++ b/src/main/resources/mapper/ConfigMapper.xml
@@ -12,5 +12,9 @@
<result column="status" property="status" />
</resultMap>
-
+ <select id="selectConfigByCode" resultMap="BaseResultMap">
+ select top 1 * from sys_config
+ where 1=1
+ and code=#{code}
+ </select>
</mapper>
--
Gitblit v1.9.1