From abb914f4761cedcfc89eb3dcdd2cf377490d09bc Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期三, 14 五月 2025 14:41:40 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 18 +++++++++++++++++-
src/main/java/com/zy/asrs/controller/RgvController.java | 6 ++++++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 4 ++++
src/main/java/com/zy/core/model/protocol/TaskProtocol.java | 1 +
4 files changed, 28 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 759e453..edea0af 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -171,6 +171,8 @@
//鎵ц
issuedPut.setTaskNo(Long.valueOf(taskNo));
issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
issuedPut.setIsRunning(1);
@@ -256,6 +258,8 @@
//鎵ц
issuedTake.setTaskNo(Long.valueOf(taskNo));
issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
issuedTake.setIsRunning(1);
@@ -265,6 +269,8 @@
//鎵ц
issuedPut.setTaskNo(Long.valueOf(taskNo));
issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
issuedPut.setIsRunning(1);
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index df46146..aae0581 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1734,6 +1734,8 @@
//鎵ц
issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
issuedTake.setIsRunning(1);
@@ -1742,6 +1744,8 @@
issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
issuedPut.setIsRunning(1);
diff --git a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
index 5e8c732..ad8cc4d 100644
--- a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
@@ -11,6 +11,7 @@
private volatile Long taskNo; // 浠诲姟鍙凤紙涓诲睘鎬э級
private volatile Long targetPosition = 0L; // 鐩爣浣嶇疆
private volatile Integer targetPositionStaNo = 0; // 鐩爣浣嶇疆
+ private volatile Integer targetPositionStaNoPlcId = 1; // 鐩爣浣嶇疆
private volatile int isRunning = 0; // 杩愯鐘舵�� 0锛氬垵濮� 1锛氱瓑寰呮墽琛� 2锛氭墽琛屼腑 3锛氭墽琛屼腑鏂� 4锛氬畬缁�
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index d0e09bd..5379142 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -14,6 +14,7 @@
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
+import com.zy.core.DevpThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
@@ -25,6 +26,7 @@
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.RgvTaskProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.TaskProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -293,7 +295,21 @@
}
if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
&& taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
-// Thread.sleep(100);
+ Thread.sleep(100);
+ if (taskProtocol.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ || staProtocol.getWorkNo() != 0
+ ){
+ System.out.println("<鏀捐揣鐩爣绔�>" + taskProtocol.getTargetPositionStaNo() + "<闈炶嚜鍔ㄦ垨鑰呮湁鐗╂垨鑰呭瓨鍦ㄥ伐浣滃彿锛侊紒锛�>");
+ continue;
+ }
+ }
TaskProtocol issued = new TaskProtocol(taskProtocol);
write(issued);
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
--
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