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@@ -485,13 +485,15 @@ public class AsynRunTaskService extends BaseService { |
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, kilnInfo.getCode(), yeyaTaiCode, rgv2CurrPosition); |
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, kilnInfo.getCode(), yeyaTaiCode, rgv2CurrPosition); |
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if (conflictBoolean) { |
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if (conflictBoolean) { |
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Integer status = moveRgv(2, 1L, 2, 0); |
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Integer status = moveRgv(2, 1L, 2, 0); |
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logger.info(status.toString()); |
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if (status != 1) { |
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if (status != 1) { |
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logger.info("===执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位39,执行失败==="); |
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logger.info("===执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + anotherVehicleId + "移动到点位2,执行失败==="); |
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// 2022/3/6 websocket通知页面 |
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// 2022/3/6 websocket通知页面 |
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webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位39,执行失败"); |
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return; |
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webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + anotherVehicleId + "移动到点位2,执行失败"); |
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}else { |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + anotherVehicleId + "移动到点位2,执行成功==="); |
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} |
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} |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位39,执行成功==="); |
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} |
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} |
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} else { |
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} else { |
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logger.info("RGV2不在线,跳过检测是否避让。"); |
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logger.info("RGV2不在线,跳过检测是否避让。"); |
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@@ -503,16 +505,17 @@ public class AsynRunTaskService extends BaseService { |
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//获取RGV1当前位置 |
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//获取RGV1当前位置 |
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Double rgv1CurrPosition = RGVCurrPosition(1); |
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Double rgv1CurrPosition = RGVCurrPosition(1); |
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//两辆小车是否冲突 |
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//两辆小车是否冲突 |
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, kilnInfo.getCode(), yeyaTaiCode, rgv1CurrPosition); |
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Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(2L, kilnInfo.getCode(), yeyaTaiCode, rgv1CurrPosition); |
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if (conflictBoolean) { |
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if (conflictBoolean) { |
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Integer status = moveRgv(1, 1L, 12, 0); |
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Integer status = moveRgv(1, 1L, 12, 0); |
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logger.info(status.toString()); |
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if (status != 1) { |
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if (status != 1) { |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位1,执行失败==="); |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + 1 + "移动到点位12,执行失败==="); |
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// 2022/3/6 websocket通知页面 |
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// 2022/3/6 websocket通知页面 |
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webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位1,执行失败"); |
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return; |
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webSocketServer.sendtoAll(LocalDateTime.now() + "执行出库任务时车辆位置冲突,执行车辆位移任务,车辆" + 1 + "移动到点位12,执行失败"); |
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}else { |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + 1 + "移动到点位12,执行成功==="); |
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} |
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} |
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logger.info("===执行任务出库任务时车辆位置冲突,执行车辆位移任务,车辆" + vehicleId + "移动到点位1,执行成功==="); |
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} |
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} |
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} else { |
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} else { |
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logger.info("RGV1不在线,跳过检测是否避让。"); |
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logger.info("RGV1不在线,跳过检测是否避让。"); |
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@@ -529,6 +532,7 @@ public class AsynRunTaskService extends BaseService { |
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Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode(); |
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Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode(); |
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Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode(); |
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Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode(); |
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Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0); |
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Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0); |
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logger.info(status.toString()); |
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if (status == 1) { |
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if (status == 1) { |
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logger.info("===执行任务出库任务,车辆搬运任务,车辆:" + vehicleId + " ,起点:" + startPoint + " ,终点:" + endPoint + "任务执行成功==="); |
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logger.info("===执行任务出库任务,车辆搬运任务,车辆:" + vehicleId + " ,起点:" + startPoint + " ,终点:" + endPoint + "任务执行成功==="); |
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//更新调度任务表状态为完成 |
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//更新调度任务表状态为完成 |
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@@ -557,7 +561,6 @@ public class AsynRunTaskService extends BaseService { |
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runTaskServiceBiz.updateById(runTask); |
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runTaskServiceBiz.updateById(runTask); |
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logger.info("任务 " + runTask.getTaskCode() + " 车辆从加工炉到提升平台过程中失败。"); |
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logger.info("任务 " + runTask.getTaskCode() + " 车辆从加工炉到提升平台过程中失败。"); |
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logger.info("===执行任务出库任务,车辆搬运任务,车辆:" + vehicleId + " ,起点:" + startPoint + " ,终点:" + endPoint + "任务执行失败==="); |
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logger.info("===执行任务出库任务,车辆搬运任务,车辆:" + vehicleId + " ,起点:" + startPoint + " ,终点:" + endPoint + "任务执行失败==="); |
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System.out.println("===执行任务出库任务,车辆搬运任务,车辆:" + vehicleId + " ,起点:" + startPoint + " ,终点:" + endPoint + "任务执行失败==="); |
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// 2021/12/14 websocket推送到前端 |
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// 2021/12/14 websocket推送到前端 |
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webSocketServer.sendtoAll("出库任务车辆从加工炉到提升平台过程中失败。"); |
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webSocketServer.sendtoAll("出库任务车辆从加工炉到提升平台过程中失败。"); |
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} |
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} |
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