#

Junjie

2025-04-23 3f0537d8c82eec18fc5e3adc52118efc5e474b77

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

@@ -269,19 +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);
@@ -552,6 +539,15 @@

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                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;
            }

@@ -1780,15 +1776,6 @@
                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
@@ -1822,6 +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)
@@ -1836,7 +1828,7 @@

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