#

Junjie

2025-01-14 2804585b14a62cc1fdec876b65267a4db8bc8995

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

@@ -839,32 +839,44 @@
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
                    if (wrkMast != null) {
                        switch (wrkMast.getWrkSts().intValue()) {
//                            case 5://5.小车搬运中 ==> 9.入库完成
//                                wrkMast.setWrkSts(9L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
//                            case 22://22.小车搬运中 ==> 23.小车搬运完成
//                                wrkMast.setWrkSts(23L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
                            case 302://302.小车移动至站点 ==> 303.小车移动至站点完成
                                wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
                                break;
                            case 110://310.小车移动中 ==> 311.小车移动完成
                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                                shuttleThread.setTaskNo(0);
                                break;
                            default:
                        if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
                            //302.小车移动至站点 ==> 303.小车移动至站点完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                            //310.小车移动中 ==> 311.小车移动完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
                            //204.小车充电中 ==> 205.小车充电完成
                            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        }
//                        switch (wrkMast.getWrkSts().intValue()) {
////                            case 5://5.小车搬运中 ==> 9.入库完成
////                                wrkMast.setWrkSts(9L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
////                            case 22://22.小车搬运中 ==> 23.小车搬运完成
////                                wrkMast.setWrkSts(23L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
//                            case 302:
//                                wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
//                                break;
//                            case WrkStsType.MOVE_SHUTTLE.sts:
//                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
//                                shuttleThread.setSyncTaskNo(0);
//                                break;
//                            default:
//                        }

                        if (wrkMastService.updateById(wrkMast)) {
                            //设置四向穿梭车为空闲状态
@@ -1833,7 +1845,7 @@
     */
    public synchronized void executeShuttleCharge() {
        try {
            //查询小车移库任务
            //查询小车充电任务
            for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
                WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
                if(wrkMast == null) {
@@ -2001,12 +2013,6 @@
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);//运行命令

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
            wrkMast.setModiTime(new Date());
            if (!wrkMastService.updateById(wrkMast)) {
                return false;
            }

            //下发任务
            shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            return false;
@@ -2026,22 +2032,22 @@
                return false;
            }

            ShuttleChargeType chargeType = ShuttleChargeType.get(wrkMast.getMk());
            ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
            if(chargeType == null) {
                return false;
            }

            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
            if (!dispatched) {
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                //调度小车去待机位
                boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
                if (!dispatched) {
                    return false;
                }
                return false;
            }

            return false;
        }
        return true;
@@ -2142,23 +2148,23 @@

            assignCommand.setCommands(commands);

            //*************尝试锁定目标站路径***************
            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
            if (targetNodes == null) {
                return false;//未获取到节点
            }
            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
            if (!checkPathIsAvailable) {
                News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//检测目标站点路径是否未被占用
            }
            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径锁定失败
            }
            //*************尝试锁定目标站路径***************
//            //*************尝试锁定目标站路径***************
//            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
//            if (targetNodes == null) {
//                return false;//未获取到节点
//            }
//            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
//            if (!checkPathIsAvailable) {
//                News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;//检测目标站点路径是否未被占用
//            }
//            //尝试锁定目标站路径
//            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
//            if (!result2) {
//                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;//路径锁定失败
//            }
//            //*************尝试锁定目标站路径***************

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);