From 9784ec36b190d0f0103b42059585d04ea0b10745 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期一, 22 九月 2025 13:33:17 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 68 ++++++++++++++++++++++++++++-----
1 files changed, 57 insertions(+), 11 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 d5f05ac..ba96987 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3218,16 +3218,18 @@
// 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE || rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
- && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvThread.isPakMk()) {
News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+// rgvRunWrkMastInTest();
+
if (rgvProtocol.getLastIo().equals("I")) {
- if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
+ if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
//mark - 1 - ....
this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
rgvProtocol.setLastIo("O");
- } else if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
+ } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
//mark - 2 - ....
this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
rgvProtocol.setLastIo("I");
@@ -3235,10 +3237,10 @@
}
// 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
else if (rgvProtocol.getLastIo().equals("O")) {
- if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
+ if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
rgvProtocol.setLastIo("I");
- } else if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
+ } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
rgvProtocol.setLastIo("O");
}
@@ -3259,6 +3261,44 @@
rgvOutExecute();
}
+ }
+ }
+ public synchronized void rgvRunWrkMastInTest(){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(1031); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+
+// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
+ boolean result = false;
+// if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+// }
+// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+// rgvThread.setPakRgv(false);
+// continue;
+// }
+ wrkMastSta.setWorkSta(1);
+ wrkMastSta.setRgvNo(1);
+ wrkMastSta.setStaStart(1031);
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //鍛戒护涓嬪彂
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
}
}
/**
@@ -3920,7 +3960,8 @@
rgvCommand.setTaskStatus2(RgvTaskStatusType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setDirection2(direction);
+// rgvCommand.setDirection1((short) 2);
+// rgvCommand.setWrkTaskMove2(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
pakIn1 = false;
}else{ //鍏ュ簱RGV鍙栬揣琛岃蛋
@@ -3929,11 +3970,12 @@
rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setDirection1(direction);
+// rgvCommand.setDirection1((short) 1);
+// rgvCommand.setDirection1(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
}
if(!pakIn1){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
@@ -3941,7 +3983,7 @@
return true;
}
}else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ 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;
@@ -3957,7 +3999,8 @@
rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setDirection2(direction);
+ rgvCommand.setDirection1((short)2);
+ rgvCommand.setWrkTaskMove2(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
pakIn1 = false;
}else{ //鍏ュ簱RGV鍙栬揣
@@ -3966,7 +4009,8 @@
rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setDirection1(direction);
+ rgvCommand.setDirection1((short)1);
+ rgvCommand.setWrkTaskMove1(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
}
if(!pakIn1){
@@ -3994,6 +4038,7 @@
rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setDirection1((short)2);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
pakIn2 = false;
}else{ //宸ヤ綅1浠诲姟鏀捐揣
@@ -4002,6 +4047,7 @@
rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setDirection1((short)1);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
}
if(!pakIn2){
--
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