#禁止跨层

zjj

2025-06-30 8b8a2086509e28bb902166aa35e4c287eb906621

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

@@ -23,10 +23,7 @@
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.OpenUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -95,6 +92,8 @@
    private OpenUtils openUtils;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private NavigateUtils navigateUtils;

    /**
     * 组托
@@ -102,6 +101,10 @@
     */
    public synchronized void generateInboundWrk() {
        try {
            List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskCtg,7));
            if (!Cools.isEmpty(tasks)){
                return;
            }
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
@@ -780,10 +783,6 @@
     * 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;
@@ -816,15 +815,13 @@
//                    continue;
//                }

//                //同库位组校验
//                List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
//                List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
//                if (!outerLocMasts.isEmpty()) {
//                    News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
//                    continue;//浅库位存在未执行任务
//                }
                //检测货物是否可出
                boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId());
                if(!checkLocPathIsAvailable) {
                    continue;
                }

                if (Cools.isEmpty(task.getShuttleNo())) {
                if (Cools.isEmpty(task.getShuttleNo()) || task.getShuttleNo() ==0) {
                    //分配小车
                    //搜索空闲车
                    ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
@@ -844,7 +841,7 @@
                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
                    task.setShuttleNo(null);//保存穿梭车号
                    task.setShuttleNo(0);//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());
@@ -954,12 +951,12 @@
            }

            //搜索其他楼层充电桩
            List<ShuttleChargeSta> list2 = shuttleChargeStaService.list(new LambdaQueryWrapper<ShuttleChargeSta>()
                    .notIn(ShuttleChargeSta::getDeviceLev, lev)
                    .eq(ShuttleChargeSta::getStatus, 1));
            if (!list2.isEmpty()) {
                allChargeLoc.addAll(list2);
            }
//            List<ShuttleChargeSta> list2 = shuttleChargeStaService.list(new LambdaQueryWrapper<ShuttleChargeSta>()
//                    .notIn(ShuttleChargeSta::getDeviceLev, lev)
//                    .eq(ShuttleChargeSta::getStatus, 1));
//            if (!list2.isEmpty()) {
//                allChargeLoc.addAll(list2);
//            }

            //没有找到充电桩
            if (allChargeLoc.isEmpty()) {
@@ -1313,6 +1310,12 @@
    // 解析小车载货移动工作档
    public synchronized void analyzeLadenMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
            //检测货物是否可出
            boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId());
            if(!checkLocPathIsAvailable) {
                continue;
            }

            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车