#

Junjie

2023-09-28 3909c3583e8fc2057715ca20ac16b14072f32b14

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

@@ -1946,6 +1946,90 @@
    }

    /**
     * AGV补货 => 机械臂拣料
     */
    public void agvRestockByRobot() {
        //检测300站是否自动、有物、工作号
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 获取入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocol = devpThread.getStation().get(300);
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }

                if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
                    continue;
                }

                if (wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                    Short targetSta = null;//目标站
                    //判断机械臂拣料站是否空闲
                    StaProtocol staProtocol303 = devpThread.getStation().get(303);
                    StaProtocol staProtocol317 = devpThread.getStation().get(317);
                    if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {
                        //自动、无物
                        targetSta = (short) 303;
                    } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
                        //自动、无物
                        targetSta = (short) 317;
                    }else {
                        continue;//没有空闲站点
                    }

                    targetSta = (short) 317;

                    //覆盖工作档目标站
                    wrkMast.setStaNo(targetSta.intValue());
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //向300站写入目标站
                        staProtocol = staProtocol.clone();
                        staProtocol.setStaNo(targetSta);//移动到目标站
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        try {
                            Thread.sleep(500);
                        } catch (Exception e) {
                            e.printStackTrace();
                        }
                        continue;
                    }
                }
            }

            StaProtocol staProtocol303 = devpThread.getStation().get(303);
            StaProtocol staProtocol317 = devpThread.getStation().get(317);
            if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
            }
        }
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    public void ledExecute() {
@@ -2240,7 +2324,7 @@
                }
            } else if (wrkCharge.getWrkSts() == 52) {
                //检测小车是否满电
                int maxPower = 85;
                int maxPower = 95;
                if (shuttleProtocol.getPowerPercent() < maxPower) {
                    continue;
                }
@@ -2257,22 +2341,32 @@
                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
                assignCommand.setCommands(commands);//运行命令

                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                try {
                    Thread.sleep(3000);
                } catch (Exception e) {
                    e.printStackTrace();
                }

                wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
                wrkCharge.setModiTime(new Date());
                if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
                    shuttleProtocol.setTaskNo(0);
                    shuttleProtocol.setPakMk(false);
                }
            } else if (wrkCharge.getWrkSts() == 53) {
                if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
                    boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
                    if (result) {
                    if (!result) {
                        continue;
                    }

                        wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
                        wrkCharge.setModiTime(new Date());
                        if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                            shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                            shuttleProtocol.setTaskNo(0);
                        }

                    }
                }
            }