1.出库口补空板 2.组托时调用agv 3.新增agv调用程序

lsh

2025-05-26 d61d4384e19580a32becb54e8e7f2287bed5469a

 src/main/java/com/zy/common/service/CommonService.java

@@ -7,6 +7,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.entity.Parameter;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.StartupDto;
@@ -102,14 +103,8 @@
    @Transactional
    public StartupDto getLocNo(Integer whsType, Integer staDescId, Integer sourceStaNo, List<String> matNos, LocTypeDto locTypeDto, int times) {

        if (sourceStaNo.equals(100)) {
            whsType = 1;
            locTypeDto.setLocType1((short) 1);
        } else if (sourceStaNo.equals(200)) {
            whsType = 2;
            locTypeDto.setLocType1((short) 2);
        }

        whsType = 1;
        locTypeDto.setLocType1((short) 1);
        StartupDto startupDto = new StartupDto();
        RowLastno rowLastno = rowLastnoService.selectById(whsType);
        if (Cools.isEmpty(rowLastno)) {
@@ -126,14 +121,6 @@
        int crnNo = crn_qty;
        // 目标库位
        LocMast locMast = null;

        if (curRow == 3) {
            curRow = 4;
        } else if (curRow == 4) {
            curRow = 3;
        } else {
            rowCount = 0;
        }

        if (crnNo == 0) {
            throw new CoolException("没有可用的堆垛机");
@@ -157,27 +144,82 @@
        rowLastno.setCurrentRow(curRow);
        rowLastnoService.updateById(rowLastno);

        // 开始查找库位 ==============================>
        int ruleId = Integer.parseInt(Parameter.get().getFindLocRule());
        if (whsType != 1) {
            locMast = locMastService.queryFreeLocMast(curRow, locTypeDto.getLocType1());
        } else if (ruleId == 1) {  //按测试设备排序，优先排满单台设备
            locMast = locMastService.queryFreeLocMast1(curRow, locTypeDto.getLocType1(), channelMax + 1);
        } else if (ruleId == 2) {  //按通道排序，均匀分配每台设备
            Short locType2 = getLocType2Small(curRow, locTypeDto.getLocType1());
            locMast = locMastService.queryFreeLocMast2(curRow, locTypeDto.getLocType1(), locType2);
        } else { //默认规则
            locMast = locMastService.queryFreeLocMast(curRow, locTypeDto.getLocType1());
        if (crnNo==1){
            LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                    .eq("loc_sts", "F")
                    .eq("loc_type1", (short) 3));//待测库位
            LocMast locMast2 = locMastService.selectOne(new EntityWrapper<LocMast>()
                    .eq("loc_sts", "O")
                    .eq("loc_type1", (short) 1));//测试库位
            if (!Cools.isEmpty(locMast1)||Cools.isEmpty(locMast2)){
                List<LocMast> locMasts=locMastService.selectList(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "O").eq("loc_type1", (short) 3)
                        .orderBy("row1",false).orderBy("bay1",true));
                if(!Cools.isEmpty(locMasts)){
                    locMast = locMasts.get(0);
                }else{
                    throw new CoolException("没有待测库位无法入库！！！");
                }
            }
        }
        // 靠近摆放规则 --- 空托
        if (staDescId == 10) {
            List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", "D").ge("row1", sRow).le("row1", eRow));
            if (locMasts.size() > 0) {
                for (LocMast loc : locMasts) {
                    if (Utils.isShallowLoc(slaveProperties, loc.getLocNo())) {
                        continue;
                    }
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties,  loc.getLocNo());
                    // 检测目标库位是否为空库位
                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                    if (shallowLoc != null && shallowLoc.getLocSts().equals("O")) {
                        if (shallowLoc.getLocType1()<locTypeDto.getLocType1()){
                            continue;
                        }
                        if (basCrnpService.checkSiteError(shallowLoc.getCrnNo(), true)) {
                            locMast = shallowLoc;
                            crnNo = locMast.getCrnNo();
                            break;
                        }
                    }
                }
            }
            if (Cools.isEmpty(locMast)) {
                List<LocMast> locMastList3 = locMastService.selectList(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "O")
                        .eq("row1",3)
                        .notIn("loc_type1",1));
                if (!Cools.isEmpty(locMastList3)) {
                    locMast = locMastList3.get(0);
                }else {
                    List<LocMast> locMastList1 = locMastService.selectList(new EntityWrapper<LocMast>()
                            .eq("loc_sts", "O")
                            .eq("row1",1)
                            .notIn("loc_type1",1));
                    if (!Cools.isEmpty(locMastList1)) {
                        locMast = locMastList1.get(0);
                    }
                }
            }
        }

        // 2.库位当前所属尺寸无空库位时，调整尺寸参数，向上兼容检索库位
        if (Cools.isEmpty(locMast)){
            locMast = locMastService.queryFreeLocMast(1, locTypeDto.getLocType1());
//            // 开始查找库位 ==============================>
//            int ruleId = Integer.parseInt(Parameter.get().getFindLocRule());
//            if (whsType != 1) {
//                locMast = locMastService.queryFreeLocMast(curRow, locTypeDto.getLocType1());
//            } else if (ruleId == 1) {  //按测试设备排序，优先排满单台设备
//                locMast = locMastService.queryFreeLocMast1(curRow, locTypeDto.getLocType1(), channelMax + 1);
//            } else if (ruleId == 2) {  //按通道排序，均匀分配每台设备
//                Short locType2 = getLocType2Small(curRow, locTypeDto.getLocType1());
//                locMast = locMastService.queryFreeLocMast2(curRow, locTypeDto.getLocType1(), locType2);
//            } else { //默认规则
//                locMast = locMastService.queryFreeLocMast(curRow, locTypeDto.getLocType1());
//            }
        }
        if (Cools.isEmpty(locMast)) {
            // 当前巷道无空库位时，递归调整至下一巷道，检索全部巷道无果后，跳出递归
            if (times < rowCount) {
                times = times + 1;
                return getLocNo(1, staDescId, sourceStaNo, matNos, locTypeDto, times);
            }
            log.error("系统没有空库位！！！ 尺寸规格： {}， 轮询次数：{}", JSON.toJSONString(locTypeDto), times);
            throw new CoolException("没有空库位");
        }
        String locNo = locMast.getLocNo();