#

Junjie

2023-10-05 45acd20e06a15d0096776ffe3adae4dc94d22762

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

@@ -1176,6 +1176,12 @@

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
            if (wrkMast.getIoType() == 53) {
                //拣料再回库，重新分配设备工作号
                Random random = new Random();
                int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
                liftCommand.setTaskNo((short) deviceWrk);
            }
            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

@@ -2626,7 +2632,8 @@
                NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());

                Random random = new Random();
                liftCommand.setTaskNo((short) Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999))));//更换随机任务号
                int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
                liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

                ArrayList<NyLiftCommand> commands = new ArrayList<>();
                commands.add(liftCommand);
@@ -2948,6 +2955,15 @@
//            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
//            liftNode.setZ(basLift.getPoint$().getZ());

            //小车已经在目标库位，直接认定小车移动任务完成
            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
                wrkMast.setWrkSts(111L);//111.小车移动完成
                wrkMast.setLiftNo(null);//释放提升机
                wrkMast.setModiTime(now);
                wrkMastMapper.updateById(wrkMast);
                return false;
            }

            //获取小车到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
            if (result == null) {