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;
@@ -52,6 +53,7 @@

    /**
     * 生成工作号
     *
     * @param wrkMk 0:入库 1 - 3000 ; 1:拣料/并板/盘点 3001 - 6000 ; 2: 出库 6001 -9000 ; 3:其他 9001 -9999
     * @return workNo(工作号)
     */
@@ -64,17 +66,17 @@
        int workNo = wrkLastno.getWrkNo();
        int sNo = wrkLastno.getSNo();
        int eNo = wrkLastno.getENo();
        workNo = workNo>=eNo ? sNo : workNo+1;
        workNo = workNo >= eNo ? sNo : workNo + 1;
        while (true) {
            WrkMast wrkMast = wrkMastService.selectById(workNo);
            if (null != wrkMast) {
                workNo = workNo>=eNo ? sNo : workNo+1;
                workNo = workNo >= eNo ? sNo : workNo + 1;
            } else {
                break;
            }
        }
        // 修改序号记录
        if (workNo > 0){
        if (workNo > 0) {
            wrkLastno.setWrkNo(workNo);
            wrkLastnoService.updateById(wrkLastno);
        }
@@ -82,7 +84,7 @@
        if (workNo == 0) {
            throw new CoolException("生成工作号失败，请联系管理员");
        } else {
            if (wrkMastService.selectById(workNo)!=null) {
            if (wrkMastService.selectById(workNo) != null) {
                throw new CoolException("生成工作号" + workNo + "在工作档中已存在");
            }
        }
@@ -91,21 +93,18 @@

    /**
     * 检索库位号
     * @param whsType 类型 1:双深式货架
     * @param staDescId 路径工作类型
     *
     * @param whsType     类型 1:双深式货架
     * @param staDescId   路径工作类型
     * @param sourceStaNo 源站
     * @param matNos 商品编号集合
     * @param matNos      商品编号集合
     * @return locNo 检索到的库位号
     */
    @Transactional
    public StartupDto getLocNo(Integer whsType, Integer staDescId, Integer sourceStaNo, List<String> matNos, LocTypeDto locTypeDto, int times) {

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

        whsType = 1;
        locTypeDto.setLocType1((short) 1);
        StartupDto startupDto = new StartupDto();
        RowLastno rowLastno = rowLastnoService.selectById(whsType);
        if (Cools.isEmpty(rowLastno)) {
@@ -123,14 +122,6 @@
        // 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");
        }
@@ -146,37 +137,89 @@
        }
        BasDevp staNo = basDevpService.selectById(staDesc.getCrnStn());
        if (!staNo.getAutoing().equals("Y")) {
            throw new CoolException("目标站"+staDesc.getCrnStn()+"不可用");
            throw new CoolException("目标站" + staDesc.getCrnStn() + "不可用");
        }

        // 更新库位排号
        rowLastno.setCurrentRow(curRow);
        rowLastnoService.updateById(rowLastno);

        // 开始查找库位 ==============================>>
        if (Cools.isEmpty(locMast)) {
            Integer 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();
@@ -192,17 +235,16 @@
        return startupDto;
    }

    public Short getLocType2Small(Integer curRow,short locType1){
        Integer OCount = locMastService.queryFreeLocMastCount(curRow, locType1, (short)1);
        short locType2=1;
        for (int i=2;i<equipmentCount+1;i++){
            Integer integer =locMastService.queryFreeLocMastCount(curRow, locType1, (short)i);
            if (OCount<integer){
                OCount=integer;
                locType2=(short)i;
    public Short getLocType2Small(Integer curRow, short locType1) {
        Integer OCount = locMastService.queryFreeLocMastCount(curRow, locType1, (short) 1);
        short locType2 = 1;
        for (int i = 2; i < equipmentCount + 1; i++) {
            Integer integer = locMastService.queryFreeLocMastCount(curRow, locType1, (short) i);
            if (OCount < integer) {
                OCount = integer;
                locType2 = (short) i;
            }
        }

        return locType2;
    }