#

Junjie

2023-10-05 45acd20e06a15d0096776ffe3adae4dc94d22762

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

@@ -225,7 +225,7 @@
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
//                        param.setLocType1(locTypeDto.getLocType1());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -406,8 +406,8 @@
                }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
                        && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
//                        && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
//                        && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
                        && staProtocol.isPakMk()){

                    // 获取条码扫描仪信息
@@ -508,12 +508,18 @@
                            }

                            String sourceLocNo = wrkMast.getSourceLocNo().trim();
                            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
                            if (liftStaProtocol == null) {
                                continue;
                            }

                            // 更新工作档数据状态
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                            wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                            wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
                            wrkMast.setStaNo(dto.getStaNo()); // 目标站
                            wrkMast.setCrnNo(dto.getCrnNo());
//                            wrkMast.setStaNo(dto.getStaNo()); // 目标站
//                            wrkMast.setCrnNo(dto.getCrnNo());
                            wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                            wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
                            wrkMast.setShuttleNo(null); // 穿梭车清空
                            wrkMast.setModiTime(new Date());
@@ -532,14 +538,16 @@
                                throw new CoolException("修改库位状态失败");
                            }

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                            }
//                            // 更新站点信息 且 下发plc命令
//                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
//                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                            }

                            barcodeThread.setBarcode("");//清理条码

                        } else if (code == 500){
                            if (ledThread != null) {
@@ -550,10 +558,10 @@
                            }
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else {
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            // led 异常显示
                            if (ledThread != null) {
@@ -793,6 +801,12 @@
            //判断小车令牌是否未被占领
            if (shuttleProtocol.getToken() != 0) {
                return false;//小车已被独占，禁止再派发任务
            }

            //判断小车是否存在移动任务
            WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
            if (hasMoveWorking != null) {
                return false;//存在移动任务，禁止执行入库任务
            }

            //判断小车是否到达输送站点库位
@@ -1162,6 +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);

@@ -2500,7 +2520,7 @@
            }

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -2612,7 +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);
@@ -2934,8 +2955,17 @@
//            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());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
            if (result == null) {
                return false;//路径计算失败
            }