From d2a6ee475f0c354b5fedfd0698889cca057f5280 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期日, 13 七月 2025 16:16:10 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 32 +++++++++++++++++++++-----------
1 files changed, 21 insertions(+), 11 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 abdb05f..358d5b3 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3563,13 +3563,13 @@
continue;
}
if (wrkMastSta.getWrkSts()!=1){
- if (wrkMastSta.getWrkType()==1 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo());
+ if (wrkMastSta.getWrkType()==3 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
+// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+ rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo(),wrkMastSta.getWrkNo().shortValue());
continue;
}
if (wrkMastSta.getWrkType()==6){
@@ -4671,7 +4671,7 @@
log.info(date+"婊″彇浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
continue;
}
- if (!staProtocol.isAutoing() || staProtocol.isLoading()){
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
continue;
}
@@ -4991,19 +4991,24 @@
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId){
+ public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId,short wrkNo1){
if (rgvId==2){
try{
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綔鍙�
+ rgvCommand.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ rgvCommand.setSourceStaNo1((short)0); // 婧愮珯
+ rgvCommand.setDestinationStaNo1((short)0); // 鐩爣绔�
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)121);
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, 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�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
@@ -5020,12 +5025,17 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綔鍙�
+ rgvCommand.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ rgvCommand.setSourceStaNo1((short)0); // 婧愮珯
+ rgvCommand.setDestinationStaNo1((short)0); // 鐩爣绔�
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)118);
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, 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�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
--
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