#

Junjie

2025-04-12 3be5c88fbc583d17a932ca937d8e293d28b5c974

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

@@ -23,6 +23,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -65,7 +67,7 @@
     */
    public void shuttleMoveExecute(WrkMast wrkMast) {
        //判断目标库位是否在1层或5层
        if (Utils.getLev(wrkMast.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
        if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
@@ -136,9 +138,28 @@
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
            //TODO
//            if (!staProtocol2.isOutEnable()) {
//                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                return false;
//            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_2.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -650,6 +671,25 @@
                return false;//提升机内无小车
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
                assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
                assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
                assignCommand.setAuto(true);//自动模式
                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
                assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

                //更新小车坐标
                ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
                ArrayList<ShuttleCommand> commands = new ArrayList<>();
                commands.add(command);

                assignCommand.setCommands(commands);
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
@@ -702,6 +742,26 @@
            if (shuttleProtocol == null) {
                return false;
            }

//            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
//                assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
//                assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
//                assignCommand.setAuto(true);//自动模式
//                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
//                assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
//
//                //更新小车坐标
//                ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
//                ArrayList<ShuttleCommand> commands = new ArrayList<>();
//                commands.add(command);
//
//                assignCommand.setCommands(commands);
//                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                return false;
//            }


            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
@@ -773,6 +833,24 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
            //TODO
//            if (!staProtocol2.isOutEnable()) {
//                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                return false;
//            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
@@ -826,6 +904,10 @@
                return false;
            }

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务