From 6c5963052282dfe4ae2f20d2e18012d1cff93c85 Mon Sep 17 00:00:00 2001
From: pjb <pjb123456>
Date: 星期一, 23 六月 2025 08:54:51 +0800
Subject: [PATCH] rgv调度优化
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 266 +++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 229 insertions(+), 37 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 35dc5bd..8bcef14 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,21 +3,29 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
-import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.BasCircularShuttle;
+import com.zy.asrs.entity.BasDevpPosition;
+import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
+import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.*;
+import com.zy.core.enums.RgvModeType;
+import com.zy.core.enums.RgvStatusType;
+import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
+import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -45,6 +53,8 @@
private BasCircularShuttleService basCircularShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private CommonService commonService;
@Value("${constant-parameters.perimeter}")
private Long perimeter;
@@ -56,13 +66,37 @@
private Long rgvCount;
@Value("${constant-parameters.rgvDate}")
private Double rgvDate;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
+
+ /*
+ * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
+ * */
+ public synchronized boolean licenseVerify() {
+ try{
+// if (true) {
+// return true;
+// }
+ return new LicenseVerify().verify();
+ } catch (Exception e){
+ log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
+ }
+ return false;
+ }
+
/**
* 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
*/
public synchronized void updateStePositionNearby() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 9L).eq("rgv_no",0));
if (wrkMasts.isEmpty()) {
return;
}
@@ -101,7 +135,7 @@
log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
return;
}
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
return;
}
@@ -141,6 +175,10 @@
Integer rgvNo = 0;
List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle.getStatus() != 0){
+ sign = true;
+ continue;
+ }
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -185,7 +223,7 @@
*/
public synchronized void DevpTaskNoRun() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts",9).orderBy("modi_time", true));
if (wrkMasts.isEmpty()) {
return;
}
@@ -219,7 +257,7 @@
List<WrkMast> wrkMastlistA = new ArrayList<>();
List<WrkMast> wrkMastlistB = new ArrayList<>();
for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
- List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
+ List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_ssta_no", basDevpPosition.getDevNo()).eq("rgv_no", 0).orderBy("modi_time", true));
for (WrkMast wrkMast : wrkMastList) {
if (!Cools.isEmpty(wrkMast)) {
if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
@@ -251,46 +289,47 @@
break runRgv;
}
BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
+ if (basCircularShuttle.getStatus() != 0){
+ continue ;
+ }
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
}
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts",10));
if (!wrkMasts.isEmpty()) {
continue;
}
- if (rgvProtocol != null
- && rgvProtocol.modeType == RgvModeType.AUTO
+ if (rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
&& rgvProtocol.getAlarm() == 0) {
- if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
+// if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
-// if (distance * proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate))) {
-// continue;
+// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+// if (basDevpPositions.isEmpty()) {
+// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
+// break runRgv;
+// }
+// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+//
+// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
+// continue;
+// }
// }
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
- if (basDevpPositions.isEmpty()) {
- log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
- break runRgv;
- }
- List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
-
- if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,wrkMast.getSourceStaNo().intValue(),rgvProtocol.getEndStaM().intValue())){
- continue;
- }
- }
+// }
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
//
@@ -299,8 +338,8 @@
}
log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- wrkMast.setWrkSts(2L);
wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setWrkSts(10L);
wrkMast.setAppeTime(new Date());
try {
wrkMastService.updateById(wrkMast);
@@ -317,8 +356,119 @@
}
}
+ public synchronized void rgvTheHandlingTaskIsIssued() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts", 9)
+ .orderBy("io_pri", false)
+ .orderBy("modi_time", true));
+ if (wrkMasts.isEmpty()) {
+ return;
+ }
+
+ LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
+ for (int i = 1; i <= 5; i++) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ rgvProtocolList.add(rgvProtocol);
+ }
+
+ runRgv:
+ for (WrkMast wrkMast : wrkMasts) {
+ BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getRgvSstaNo())); // 绔欑偣
+ long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
+ TreeMap<Long, RgvProtocol> map = new TreeMap<>();
+ for (RgvProtocol rgvProtocol : rgvProtocolList) {
+ long distance;
+ if (rgvProtocol.getRgvPos() <= position) {
+ distance = position - rgvProtocol.getRgvPos();
+ } else {
+ distance = position + (perimeter - rgvProtocol.getRgvPos());
+ }
+ map.put(distance, rgvProtocol);
+ }
+ log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
+ StringBuilder sb = new StringBuilder();
+ for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+ RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
+ sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
+ }
+ log.info(sb.toString());
+
+ for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+ RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 鏈�杩戣窛绂诲皬杞�
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈡渶杩戝皬杞︼細{},鐘舵��:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
+ if(wrkMast.getIoType() == 10 || wrkMast.getIoType() == 110 || wrkMast.getSourceStaNo() == 1034) {
+ if (count != 0) {
+ continue;
+ }
+ if (rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ break runRgv;
+ }
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ Date now = new Date();
+ wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setWrkSts(10L);
+ wrkMast.setRgvCreateTime(now);
+ wrkMastService.updateById(wrkMast);
+ break runRgv;
+ }
+ } else {
+ if (count != 0) {
+ break;
+ }
+ if (rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ break runRgv;
+ }
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ Date now = new Date();
+ wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setWrkSts(10L);
+ wrkMast.setRgvCreateTime(now);
+ wrkMastService.updateById(wrkMast);
+ break runRgv;
+ } else {
+ break ; // 鍙湅鏈�杩戠殑绗竴涓皬杞�
+ }
+ }
+ }
+ }
+ } catch (Exception e) {
+ log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
+ }
+ }
+
//浠诲姟瀹屾垚
- public synchronized void rgvCompleteWrkMastSta() {
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
try {
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -331,27 +481,69 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
continue;
}
- if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
- log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
- }
+
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getTaskNo1() != 0
) {
-// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
- if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
- log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMast);
+ if (Cools.isEmpty(wrkMast)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.error("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
continue;
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
if (!rgvComplete) {
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
break;
}
- wrkMast.setWrkSts(3L);
- wrkMast.setAppeTime(new Date());
+ wrkMast.setWrkSts(2L);
+ Date now = new Date();
+ wrkMast.setRgvFinishTime(now);
+ wrkMastService.updateById(wrkMast);
+ }
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ // 灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷
+ public synchronized void rgvTaskCancel() {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.PICK_UP_OFFSIDE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+ log.info("{}鍙峰皬杞﹀皬杞﹀彇璐ц秺浣嶏紝鐘舵�亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
+ if (Cools.isEmpty(wrkMast)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.error("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ continue;
+ }
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷,澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMast.setWrkSts(9L);
+ wrkMast.setRgvNo(0);
+ wrkMast.setRgvCreateTime(new Date());
wrkMastService.updateById(wrkMast);
}
}
@@ -367,7 +559,7 @@
try {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
+ log.error("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
return false;
} else {
log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
--
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