From 7a8c09b5b21d651df88c295bd1fd59789c7ab698 Mon Sep 17 00:00:00 2001 From: luoyifan Date: Wed, 9 Jul 2025 10:36:44 +0800 Subject: [PATCH 1/3] =?UTF-8?q?agvCarry=20=E6=8C=87=E4=BB=A4=E6=98=BE?= =?UTF-8?q?=E7=A4=BA=20bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/yvan/workbench/controller/RcsController.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java index c9b2006..66c3aa7 100644 --- a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java +++ b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java @@ -218,7 +218,7 @@ public class RcsController { // ==================== 布置任务 ==================== ps.bizTask.setLpn(lpn); ps.bizTask.setBizType(BizTaskType.CARRY.toString()); - ps.bizTask.setTaskFrom(loadBasLocation.getCatalogCode()); + ps.bizTask.setTaskFrom(loadBasLocation.getLocCode()); ps.bizTask.setTaskTo(unloadBasLocation.getLocCode()); CarryTask carryTask = new CarryTask( From 4d381402d25e2cc5a2f44e01144cd1fb81718347 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Wed, 9 Jul 2025 10:40:10 +0800 Subject: [PATCH 2/3] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java index 5bbbc77..5ff2c29 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java +++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java @@ -214,7 +214,10 @@ public abstract class PtrAgvItem extends ExecutorItem { if (!deviceTaskQueue.isEmpty()) { deviceTaskQueue.clear(); } - + // todo 取消运行中的设备任务 + runningDeviceTaskList.clear(); + // 唤醒连接器线程 + LockSupport.unpark(connectorThread); this.runtime.eventManager.firePlanTaskSequenceCancelEvent(this, planTaskSequence); } From bd709f83c8c394dd67b5846656996c589403a26d Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Wed, 9 Jul 2025 12:47:49 +0800 Subject: [PATCH 3/3] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java | 4 ++-- servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java | 2 ++ 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java index f6afee6..e6621b4 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java +++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvConnectorThread.java @@ -76,8 +76,8 @@ public class PtrAgvConnectorThread extends Thread { PtrAgvDeviceTask nextTask = this.ptrAgvItem.deviceTaskQueue.peek(); if (currentTask.isGroupEnd || (taskMessage.Link.size() > 0 && nextTask != null && ((startTask.speed > 0) != (nextTask.speed > 0) || startTask.direction != nextTask.direction)) // 下一个任务和开始任务方向不一致 - // 单向移动距离大于2m时并且点位数量大于1 - || (distance > 2 && taskCount > 1)) { + // 单向移动距离大于2m时并且点位数量大于1 如果碰到当前点位与任务结束点位相同且当前任务还有后续，则继续添加步骤（link）错开，避免任务发生歧义 + || (distance > 2 && taskCount > 1 && nextTask != null && currentTask.endPoint != currentTask.groupEndPoint)) { taskMessage.OperationType = currentTask.operationType; taskMessage.PickMode = currentTask.pickMode; taskMessage.EndX = currentTask.groupEndPoint.logicX; diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java index 5ff2c29..94d60be 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java +++ b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java @@ -779,6 +779,8 @@ public abstract class PtrAgvItem extends ExecutorItem { } deviceTaskQueue.addAll(deviceTaskList); + String json = JsonWrapper.toJson(deviceTaskList); + log.info("deviceTaskList: {}", json); } public boolean isSamePosition(PosDirection startPos) {