From 55165693f541b63e059af1def45fb2f24c5ed31e Mon Sep 17 00:00:00 2001
From: LSH
Date: 星期三, 03 四月 2024 16:59:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 43 ++++++++++++++++++++++++++++++++++++-------
1 files changed, 36 insertions(+), 7 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 42c75b9..48de892 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3687,7 +3687,11 @@
return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ if (rgvProtocol.getRgvNo()==1){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
@@ -3719,7 +3723,7 @@
log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==1);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -3776,6 +3780,10 @@
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
@@ -3800,7 +3808,7 @@
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(2);
try{
@@ -3858,6 +3866,10 @@
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀� 7:鎻愬崌
@@ -3882,7 +3894,7 @@
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(2);
try{
@@ -3936,6 +3948,10 @@
return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
for (WrkMastSta wrkMastSta : wrkMastStaList){
@@ -3972,7 +3988,7 @@
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -4027,6 +4043,10 @@
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
if (!Cools.isEmpty(wrkMast)){
@@ -4053,7 +4073,7 @@
continue;
}
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
if (signMap){
wrkMastSta.setWrkSts(1);
try{
@@ -4118,7 +4138,8 @@
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+// 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 {
@@ -4205,7 +4226,7 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
- if (rgvId==1){
+ if (rgvId==2){
try{
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -4453,6 +4474,13 @@
/*
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,boolean sign){
+ if (sign){
+ staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staStart);
+ staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staEnd);
+ }
+ return rgvMapUpdate(basRgvMapCurrent,staStart,staEnd);
+ }
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
@@ -4469,6 +4497,7 @@
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
basRgvMapOther.setEndRoute(lockEndRoute);
+ basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther,lockEndRoute));
basRgvMapMapper.updateById(basRgvMapOther);
return true;
}catch (Exception e){
--
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