From 7404d352ee7efa5ae82d6bd68a3a876a913159f8 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期三, 07 一月 2026 00:26:14 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 65 +++++++++++++++-----------------
1 files changed, 30 insertions(+), 35 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 155d1b3..10784d2 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 +4660,25 @@
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
@@ -4824,6 +4819,10 @@
* arm浠诲姟瀹屾垚鑷姩缁勬墭
* */
public synchronized void armMissionAccomplished1() {
+ Config configAGVAUTOIN = configService.selectConfigByCode("AGVAUTOIN");
+ if(!Boolean.parseBoolean(configAGVAUTOIN.getValue())){
+ return;
+ }
try{
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
@@ -4922,6 +4921,10 @@
* arm浠诲姟瀹屾垚鑷姩缁勬墭
* */
public synchronized void armMissionAccomplished2() {
+ Config configAGVAUTOIN = configService.selectConfigByCode("AGVAUTOIN");
+ if(!Boolean.parseBoolean(configAGVAUTOIN.getValue())){
+ return;
+ }
try{
List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
for (BasArm basArm : basArmList) {
@@ -5202,6 +5205,10 @@
* arm浠诲姟涓嬪彂
* */
public synchronized void armTaskAssignment2() {
+ Config configAGVAUTOIN = configService.selectConfigByCode("AGVAUTOIN");
+ if(!Boolean.parseBoolean(configAGVAUTOIN.getValue())){
+ return;
+ }
try{
List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
for (BasArm basArm : basArmList) {
@@ -5536,7 +5543,7 @@
// 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
BasAgvMast basAgvMast = new BasAgvMast();
-
+ BasAgvWrkDetl basAgvWrkDetl = new BasAgvWrkDetl();
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -5723,6 +5730,9 @@
* 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 +5772,22 @@
.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){
@@ -5943,23 +5955,6 @@
if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) || basAgvMast.getSourceStaNo().equals(2033)){
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
if(basAgvMast.getFloorNo()==1) {
-// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
-// AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
-// agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
-// agvBindCtnrAndBinParam.setCtnrTyp("1");
-// ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
-// if (resultBind.getCode()==200){
-// //浠诲姟涓嬪彂
-// ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
-// if (result.getCode()==200){
-// basAgvMast.setStatus(1);
-// basAgvMastService.updateById(basAgvMast);
-// } else {
-// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
-// }
-// } else {
-// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
-// }
//浠诲姟涓嬪彂
ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
if (result.getCode()==200){
@@ -5977,7 +5972,7 @@
agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
agvBindCtnrAndBinTwoParam.setIndBind("1");;
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV瀹瑰櫒缁戝畾瑙ｇ粦",
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV瀹瑰櫒缁戝畾",
AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
if (resultBind.getCode()!=200){
basAgvMast.setStatus(4);
--
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