From c87d8539ff210d79dbae1a2b6472fc8bb71cf600 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 09 一月 2025 10:51:25 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 31 +++++++++++++------------------
1 files changed, 13 insertions(+), 18 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 1370609..39e982b 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3608,17 +3608,6 @@
public synchronized boolean rgvIoExecute(Integer sign) {
boolean rgvIoExecuteSign = false;
try{
- int rgvPoi = 101;
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }
- if (rgvProtocol.getRgvNo()==1){
- rgvPoi = rgvProtocol.getRgvPosI();
- }
- }
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
// 鑾峰彇灏忚溅淇℃伅
boolean signWork = false;
@@ -4262,21 +4251,26 @@
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
if (rgvProtocol.getRgvNo()!=1){
+ if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
+ continue;
+ }
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+// return;
continue;
}
- if (!rgvProtocol.getRgvPosI().equals(108)){
+ if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
continue;
}
Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
if (count108Y==0){
- return;
+ continue;
}
Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
if (count108==0){
- return;
+ continue;
}
rgvAvoidanceXY(rgvProtocol.getRgvNo());
- return;
+ continue;
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //鑾峰彇鍚堝苟骞叉秹椤�
// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
@@ -4390,7 +4384,7 @@
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)107);
+ rgvCommand.setSourceStaNo1( (short)104);
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�
@@ -4412,7 +4406,7 @@
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((short)114);
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�
@@ -4647,7 +4641,8 @@
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
- basRgvMapOther.setEndRoute(lockEndRoute);
+ Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+ basRgvMapOther.setEndRoute(lockEndRouteL);
basRgvMapMapper.updateById(basRgvMapOther);
return true;
}catch (Exception e){
--
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