#

Junjie

2025-04-22 3009c8b166815ef1ca58d43643e6d1f9f3a57747

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

@@ -179,6 +179,15 @@
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
@@ -260,19 +269,6 @@
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }

                //判断提升机是否有其他任务
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
                if (liftWrkMast != null) {
                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
                        return false;
                    }
                }

                wrkMast.setLiftNo(liftNo);
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
@@ -353,6 +349,15 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(liftSta.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -739,15 +744,6 @@
        //--------------------------------------提升机出库-----------------------------------------//
        //103.小车搬运完成 ==> 104.提升机搬运中
        if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if(shuttleProtocol == null) {
                return false;
            }

            //获取源站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            if (liftSta == null) {
@@ -755,20 +751,38 @@
                return false;//找不到站点
            }

            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());
            if(wrkMast.getShuttleNo() != null) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                if (shuttleThread == null) {
                    return false;
                }
                //调度小车去待机位
                boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, 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());
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                if(shuttleProtocol == null) {
                    return false;
                }

                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());
                        return false;
                    }
                    //调度小车去待机位
                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, 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;
                    }
                } else {
                    //小车已不在输送站点位置，释放小车
                    wrkMast.setShuttleNo(null);//释放小车
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                    return false;
                }
                return false;
            }

            if (liftSta.getHasCar()) {
@@ -1361,6 +1375,15 @@
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
            if (!dispatched) {
@@ -1744,6 +1767,15 @@
                return false;//路径计算失败
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
@@ -1777,6 +1809,11 @@
                continue;
            }

            List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
            if (conveyorBindLiftAllStaNo.isEmpty()) {
                continue;
            }

            //获取入库任务
            List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("sta_no", liftAllStaNo)
@@ -1791,7 +1828,7 @@

            //获取出库任务
            List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("source_sta_no", liftAllStaNo)
                    .eq("sta_no", conveyorBindLiftAllStaNo)
                    .in("wrk_sts"
                            , WrkStsType.NEW_OUTBOUND.sts
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts