From b3a1f01b15b2cc6969091a4972204593147119e4 Mon Sep 17 00:00:00 2001 From: lsh <lsh123456> Date: 星期三, 03 四月 2024 15:11:56 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/utils/RouteUtils.java | 4 ++-- src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 14 +++++++++----- src/main/resources/application.yml | 2 +- 3 files changed, 12 insertions(+), 8 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 b2ad115..42c75b9 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -4094,6 +4094,8 @@ } Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd()); boolean signRgv = true; + boolean signRgv1 = true; + boolean signRgv2 = true; for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); @@ -4116,9 +4118,12 @@ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE ) { // if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ - if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){ - signRgv = false; - break; + if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){ + if (rgvProtocol.getRgvNo()==1){ + signRgv1 = false; + }else { + signRgv2 = false; + } } if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ signRgv = false; @@ -4132,7 +4137,7 @@ break; } } - if (signRgv){ + if (signRgv && (signRgv1 || signRgv2)){ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); @@ -4152,7 +4157,6 @@ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); - break; } } } diff --git a/src/main/java/com/zy/asrs/utils/RouteUtils.java b/src/main/java/com/zy/asrs/utils/RouteUtils.java index 218b507..a8050f7 100644 --- a/src/main/java/com/zy/asrs/utils/RouteUtils.java +++ b/src/main/java/com/zy/asrs/utils/RouteUtils.java @@ -486,9 +486,9 @@ int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaStart); int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(runStaEnd); if (ia<=ib){ - return new Integer[]{RouteIndexFarMasReverse(runStaStart,1),RouteIndexFarMasReverse(runStaEnd,2)}; + return new Integer[]{RouteIndexFarMasReverse(1,runStaStart),RouteIndexFarMasReverse(2,runStaEnd)}; }else { - return new Integer[]{RouteIndexFarMasReverse(runStaEnd,1),RouteIndexFarMasReverse(runStaStart,2)}; + return new Integer[]{RouteIndexFarMasReverse(1,runStaEnd),RouteIndexFarMasReverse(2,runStaStart)}; } // if (ia<=ib){ // return new Integer[]{TRACK_POSITION_POSITIVE_SEQUENCE.get(ia),TRACK_POSITION_POSITIVE_SEQUENCE.get(ib)}; diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml index 38f9770..489881e 100644 --- a/src/main/resources/application.yml +++ b/src/main/resources/application.yml @@ -36,7 +36,7 @@ enable: false wms: - url: 192.168.18.4:8080/jtwms + url: 127.0.0.1:8080/jtwms # 涓嬩綅鏈洪厤缃� wcs-slave: -- Gitblit v1.9.1