From 4f01c40fe0eb40b40d1555fb94104b3a0fb403ec Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 12 四月 2024 16:22:32 +0800
Subject: [PATCH] #SuperLoaded

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   51 ++++++++++++++++++++++---
 src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java      |    1 
 src/main/java/com/zy/core/thread/SiemensDevpThread.java     |    2 
 src/main/resources/mapper/WrkMastStaMapper.xml              |   11 +++++
 4 files changed, 58 insertions(+), 7 deletions(-)

diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java
index 7ece0f1..c77cb80 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java
@@ -18,6 +18,7 @@
     * */
     Integer selectAllWrkCount(@Param("type")Integer type);
     Integer selectAllWrkStsCount(@Param("type")Integer type,@Param("wrkSts")Integer wrkSts);
+    WrkMastSta selectAllWrkStsCountWrkMastSta(@Param("type")Integer type,@Param("wrkSts")Integer wrkSts);
 
     /*
     * 鑾峰彇鎵�鏈夊彲鎵ц浠诲姟
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 fcef213..a853100 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4060,10 +4060,17 @@
     * */
     public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
         try{
-            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
-            if (integer==0){
+//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+//            if (integer==0){
+//                return;
+//            }
+            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+            if (Cools.isEmpty(wrkMastSta)){
                 return;
             }
+            boolean signRgv = true;
+            boolean signRgv1 = true;
+            boolean signRgv2 = true;
             for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4087,15 +4094,47 @@
                 ) {
                     BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                     if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
-                        continue;
+//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
+                        if (rgvProtocol.getRgvNo()==1){
+                            signRgv1 = false;
+                        }else {
+                            signRgv2 = false;
+                        }
                     }
                     if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
-                        continue;
+                        signRgv = false;
+                        break;
                     } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+                        signRgv = false;
+                        break;
+                    }
+                }else {
+                    signRgv = false;
+                    break;
+                }
+            }
+            if (signRgv &&  (signRgv1 || signRgv2)){
+                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                    if (rgvProtocol == null) {
                         continue;
                     }
-                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
-                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+                    // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+                    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.getTaskNo2()==0
+                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    ) {
+                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
+                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                    }
                 }
             }
         }catch (Exception e){
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index e1bd0b0..27d494c 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -69,7 +69,7 @@
     }};
 
     public static final ArrayList<Integer> staNos1Super = new ArrayList<Integer>() {{
-        add(118);add(119);add(120);add(121);add(131);add(135);add(147);
+        add(118);add(119);add(120);add(121);add(122);add(123);add(131);add(135);add(147);
     }};
 
     public static final ArrayList<Integer> staNos2Super = new ArrayList<Integer>() {{
diff --git a/src/main/resources/mapper/WrkMastStaMapper.xml b/src/main/resources/mapper/WrkMastStaMapper.xml
index 6650f59..9f781f4 100644
--- a/src/main/resources/mapper/WrkMastStaMapper.xml
+++ b/src/main/resources/mapper/WrkMastStaMapper.xml
@@ -93,6 +93,17 @@
         </if>
     </select>
 
+    <select id="selectAllWrkStsCountWrkMastSta" resultMap="BaseResultMap">
+        select top 1 * from asr_wrk_mast_sta
+        where 1=1
+        <if test="type!=null">
+            and type = #{type}
+        </if>
+        <if test="wrkSts!=null">
+            and wrk_sts = #{wrkSts}
+        </if>
+    </select>
+
 
 
 

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