#

Junjie

1 天以前 065680a77cba650c5b3e3d75773ac210b6feafb2

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -746,14 +746,21 @@

                if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
                    //小车还在输送站点
                    //获取小车待机位
                    String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
                    if (standbyLocNo == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
                    //小车出提升机近点距离
                    int shuttleOutLiftLocationDistance = 2;
                    Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
                    if (shuttleOutLiftLocationDistanceConfig != null) {
                        shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
                    }

                    String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
                    if (targetLocNo == null) {//出输送线站点计算失败
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，出输送线站点计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                        return false;
                    }

                    //调度小车去待机位
                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetLocNo, wrkMast.getShuttleNo());
                    if (!dispatchShuttle) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
                        return false;
@@ -818,7 +825,7 @@
            }

            //获取提升机命令
            LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
            LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getSiteId(), wrkMast.getStaNo());
            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);