From 608775c2431d9a8eab45fab90f8df31a4ca7873f Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 17 七月 2025 14:15:02 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 94 +++++++++++++++++++---------------------------
1 files changed, 39 insertions(+), 55 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 358d5b3..af4e0d1 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4940,6 +4940,9 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==1){
try{
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
@@ -4992,6 +4995,9 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId,short wrkNo1){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==2){
try{
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
@@ -5053,6 +5059,9 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==1){
try{
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
@@ -5106,6 +5115,9 @@
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5128,64 +5140,13 @@
}
}
-
- /*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
- public synchronized boolean rgvTakeFullPut(Integer rgvId,WrkMastSta wrkMastSta){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍗曞彇
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
- }
- }
-
-
- /*
- * 灏忚溅鏀捐揣鑷冲伐浣嶄换鍔�
- * */
- public synchronized boolean rgvTakeFullTake(Integer rgvId,WrkMastSta wrkMastSta){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍗曟斁
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
- }
- }
-
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5211,6 +5172,9 @@
* 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
* */
public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5236,6 +5200,9 @@
* 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 鍙犵洏
* */
public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5261,6 +5228,9 @@
* 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //鎷嗙洏
* */
public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5286,6 +5256,9 @@
* 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 婊″彇
* */
public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5311,6 +5284,9 @@
* 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //婊℃斁
* */
public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5336,6 +5312,9 @@
* 灏忚溅澶嶄綅
* */
public synchronized boolean rgvComplete(Integer rgvId){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
@@ -5356,6 +5335,9 @@
* 灏忚溅澶嶄綅
* */
public synchronized boolean rgvComplete(Integer rgvId,Short taskNo1){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setTaskNo1(taskNo1);
@@ -5381,7 +5363,9 @@
if (rgvOpen){
return true;
}
-
+ if (basRgvMapCurrent.getRgvNo()>20){
+ return true;
+ }
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
try{
--
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