From a1bd5fc40223cee3445fc62b7555afee7bbcdab5 Mon Sep 17 00:00:00 2001
From: pjb <pjb123456>
Date: 星期二, 12 八月 2025 16:06:49 +0800
Subject: [PATCH] 小车异常
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 82 ++++++++++-------------------------------
1 files changed, 20 insertions(+), 62 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 c9ad696..e5b80a8 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -380,10 +380,6 @@
runRgv:
for (WrkMast wrkMast : wrkMasts) {
Integer rgvSstaNo = wrkMast.getRgvSstaNo();
- // 1090锛�1089,1086,1083 鎸�1083绔欑偣浣嶇疆璁＄畻锛岃兘鍙�1083锛屽氨鑳藉彇1090锛�1089锛�1086锛岄伩鍏嶄换鍔″欢杩熶笅鍙戞柟妗堜竴鐩寸粰1083鍙�
-// if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086 || rgvSstaNo == 1105) {
-// rgvSstaNo = 1083;
-// }
BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 绔欑偣
long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
position += 50; // 灏忚溅鍙栬揣瀹氫綅绮惧害 +- 50,绔欑偣浣嶇疆10000锛屽皬杞﹀湪10050涔熸槸鍙互鍙栫殑
@@ -397,19 +393,19 @@
}
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.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
-// }
-// log.info(sb.toString());
+ position -= 50;
+ 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.getRgvPos()).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 (rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
@@ -444,64 +440,23 @@
// 褰撳墠rgv浠诲姟鐩爣绔欑偣
BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
- if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
- if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ // 鑾峰彇RGV褰撳墠浣嶇疆鍜岀姸鎬�
+ long currentRgvPos = rgvProtocol.getRgvPos();
+ int rgvStatus = rgvProtocol.getStatusType().id;
+
+ // 瀹氫箟娴姩鑼冨洿锛堜粎鍋滈潬鐘舵�侀�傜敤锛�
+ long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
+ if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
}
} else {
- if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
+ if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
break;
}
}
}
}
- } else {
- if (rgvProtocol.modeType == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
- && rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getAlarm() == 0) {
- if (count != 0) {
- log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
- break;
- }
- 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(rgvProtocol.modeType == RgvModeType.AUTO
- && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
- WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
- if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
- // 褰撳墠rgv浠诲姟鐩爣绔欑偣
- BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
- long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
- if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
- if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
- break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
- }
- } else {
- if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
- break;
- }
- }
- }
- }
- }
}
}
} catch (Exception e) {
@@ -544,6 +499,9 @@
break;
}
wrkMast.setWrkSts(2L);
+ if (wrkMast.getIoType()==120){
+ wrkMast.setWrkSts(53L);
+ }
Date now = new Date();
wrkMast.setRgvFinishTime(now);
wrkMastService.updateById(wrkMast);
--
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