#充电换层优化

Junjie

2025-05-09 7e129b703408f5d2f1409f8c5a3af9c4cb3d86f6

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -380,6 +380,31 @@
                                break;
                            }

                            if (!liftThread.isIdle()) {
                                break;
                            }

                            if (motionService.count(new LambdaQueryWrapper<Motion>()
                                    .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                                    .eq(Motion::getDevice, inSta.getLiftNo())
                                    .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
                                break;
                            }

                            //检测提升机是否有任务绑定
                            boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(workNo));
                            if (liftResult) {
                                //存在任务，禁止执行
                                break;
                            }

                            //每次执行提升机指令都绑定提升机
                            task.setLiftNo(liftProtocol.getLiftNo());
                            task.setUpdateTime(new Date());
                            if (!taskService.updateById(task)) {
                                break;
                            }

                            List<LiftCommand> command = liftThread.getPalletInOutCommand(workNo, 1, lev, inSta.getDeviceStaNo(), targetSite, LiftCommandModeType.PALLET_INOUT);

                            LiftAssignCommand assignCommand = new LiftAssignCommand();
@@ -610,10 +635,19 @@
                    ) {

                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .eq(Task::getDestSite, inSta.getDeviceStaNo())
                                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
                                .eq(Task::getTaskNo, workNo));
                        if (task != null) {
                            if (!Cools.isEmpty(task.getLiftNo())) {
                                if (task.getLiftNo() > 0) {
                                    task.setLiftNo(0);
                                    task.setUpdateTime(new Date());
                                    if (!taskService.updateById(task)) {
                                        News.info("{}任务更新释放提升机失败", task.getTaskNo());
                                    }
                                }
                            }

                            if (Cools.isEmpty(task.getShuttleNo())) {
                                //分配小车
                                //搜索空闲车
@@ -634,6 +668,11 @@
                            // generate motion list
                            List<Motion> motionList = analyzeService.generateMotion(task);
                            if (motionList.isEmpty()) {
                                task.setShuttleNo(null);//保存穿梭车号
                                task.setUpdateTime(new Date());
                                if (!taskService.updateById(task)) {
                                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                                }
                                continue;
                            }
                            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
@@ -740,6 +779,10 @@
     * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
     */
    public synchronized void analyzeOutBoundTask() {
        List<Task> moveTask = taskService.selectWaitAnalyzeMoveTask();
        if (!moveTask.isEmpty()) {
            return;
        }
        List<Task> tasks = taskService.selectPakOut();
        if (tasks.isEmpty()) {
            return;
@@ -800,6 +843,11 @@
                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
                    task.setShuttleNo(null);//保存穿梭车号
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                    }
                    log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
                    continue;
                }
@@ -839,6 +887,11 @@
            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
            if (motionList.isEmpty()) {
                task.setShuttleNo(null);//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
@@ -1256,4 +1309,39 @@
        }
    }

    // 解析小车载货移动工作档
    public synchronized void analyzeLadenMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleLadenMoveMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_LADEN_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }
}