From aa146b6fad8f892752e832dc874c050e4375451c Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期日, 11 五月 2025 16:54:39 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 26 +++++++++++++++++++++++++-
src/main/java/com/zy/asrs/controller/TaskWrkController.java | 1 +
src/main/resources/application-prod.yml | 8 ++++----
src/main/resources/application.yml | 2 +-
4 files changed, 31 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/TaskWrkController.java b/src/main/java/com/zy/asrs/controller/TaskWrkController.java
index 7a58fad..a8b9f79 100644
--- a/src/main/java/com/zy/asrs/controller/TaskWrkController.java
+++ b/src/main/java/com/zy/asrs/controller/TaskWrkController.java
@@ -377,6 +377,7 @@
return R.ok();
} else if (!Cools.isEmpty(taskWrk) && taskWrk.getWrkSts()==3) {
taskWrk.setWrkSts(2);
+ taskWrk.setStatus(TaskStatusType.RECEIVE.id);//娲惧彂鐘舵��
taskWrkService.updateById(taskWrk);
if(!taskWrkService.updateById(taskWrk)){
return R.error("鏇存柊浠诲姟鐘舵�佸け璐�");
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 1e6df7b..274eee4 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -52,7 +52,7 @@
//# 杞ㄩ亾鍩哄噯鐐�
private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 4000L;
+ private Long avoidDistance = 5000L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -343,6 +343,10 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -357,6 +361,10 @@
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
return false;
}
rgvTaskProtocolOther.setAvoid(1);
@@ -374,6 +382,10 @@
long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
return false;
}
rgvTaskProtocol.setAvoid(1);
@@ -396,6 +408,10 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -410,6 +426,10 @@
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
return false;
}
rgvTaskProtocolOther.setAvoid(1);
@@ -430,6 +450,10 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
rgvTaskProtocol.setAvoid(1);
rgvTaskProtocol.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml
index 0e0b5a0..d0ce347 100644
--- a/src/main/resources/application-prod.yml
+++ b/src/main/resources/application-prod.yml
@@ -83,8 +83,8 @@
rack: 0
slot: 0
otherId: 2
- carBodyJiaoMing: 2000
- carBodyKunPeng: 15000
+ carBodyJiaoMing: 2800
+ carBodyKunPeng: 13500
#RGV婧愮珯鐐�
rgvInSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
@@ -159,8 +159,8 @@
rack: 0
slot: 0
otherId: 1
- carBodyJiaoMing: 2000
- carBodyKunPeng: 15000
+ carBodyJiaoMing: 2800
+ carBodyKunPeng: 13500
#RGV婧愮珯鐐�
rgvInSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index fc943e3..446e51d 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -56,7 +56,7 @@
# 杞ㄩ亾杞崲涓虹背姣斾緥
trackProportion: 10000
# 閬胯璺濈
- avoidDistance: 5100
+ avoidDistance: 4000
wms:
# 鏄惁寮�鍚笂鎶�
--
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