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/service/impl/MainServiceImpl.java | 90 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 76 insertions(+), 14 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 184421c..42c75b9 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2318,6 +2318,7 @@
param.setIoType(10);
param.setSourceStaNo(122);
param.setLocType1((short)1);
+ param.setRgvNo(rgvProtocol.getRgvNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/empty/loc/v1")
@@ -3696,6 +3697,18 @@
if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
+
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
if (!basDevp.getEmptyMk().equals("Y")){
continue;
@@ -3935,8 +3948,19 @@
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
- if (basDevp.getEmptyMk().equals("Y")){
+ if (!basDevp.getEmptyMk().equals("Y")){
continue;
}
}
@@ -4060,10 +4084,18 @@
* */
public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
try{
- Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
- if (integer==0){
+// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+// if (integer==0){
+// return;
+// }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+ if (Cools.isEmpty(wrkMastSta)){
return;
}
+ 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();
@@ -4085,17 +4117,47 @@
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- continue;
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+ 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) )){
- continue;
+ signRgv = false;
+ break;
} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+ signRgv = false;
+ break;
+ }
+ }else {
+ signRgv = false;
+ break;
+ }
+ }
+ if (signRgv && (signRgv1 || signRgv2)){
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
}
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getTaskNo2()==0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ }
}
}
}catch (Exception e){
@@ -4142,10 +4204,10 @@
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+ public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
if (rgvId==1){
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4153,7 +4215,7 @@
rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
//basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1( (short)101);
+ rgvCommand.setSourceStaNo1(rgvRunSta[0].shortValue());
rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
@@ -4168,14 +4230,14 @@
}
}else {
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
- rgvCommand.setSourceStaNo2((short)117);
+ rgvCommand.setSourceStaNo2(rgvRunSta[1].shortValue());
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
--
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