From e63648d369937ab69df76143343037a61f78e556 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 21 二月 2024 14:47:13 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 38 +++++++++++++++++++++++++++-----------
1 files changed, 27 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 ab5a94c..bad524d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -229,13 +229,15 @@
News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }else {
+ ledThread.errorReset();
}
} else {
-// staProtocol.setWorkNo(wrkNo);
-// wrkNo++;
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
// if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
@@ -2174,10 +2176,10 @@
// 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.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.getTaskNo1()==9999)
+ && 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.getTaskNo1()==9999)
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2256,6 +2258,19 @@
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ }else {
+ log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护,浣嗘湭鏌ヨ鍒板伐浣滄。");
+ // 涓嬪彂绔欑偣淇℃伅
+ Map<Integer,Integer> map = new HashMap<>();
+ map.put(101,102);map.put(112,111);
+ map.put(100,100);
+ staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
+ staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
continue;
}
@@ -2509,8 +2524,9 @@
// 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.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.getStatusType1() == RgvStatusType.IDLE
// && rgvProtocol.getTaskNo2()==0
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2547,7 +2563,7 @@
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(basRgvMap.getStartRoute().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�
@@ -2569,7 +2585,7 @@
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)161);
+ rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().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�
--
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