#

Junjie

2023-10-20 47534cf617a77567d6787856d81c97942e5198b3

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

@@ -25,6 +25,8 @@
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -104,6 +106,8 @@
    private WrkMastLocMapper wrkMastLocMapper;
    @Autowired
    private BasLiftOptService basLiftOptService;
    @Autowired
    private ConfigService configService;


    /**
@@ -524,6 +528,7 @@
                            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.setLiftNo(null);// 提升机清空
                            wrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
@@ -1323,6 +1328,8 @@
                                if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
                                    //不需要用到机械臂，直接转29.出库完成
                                    wrkMast.setWrkSts(29L);
                                    wrkMast.setShuttleNo(null);//释放小车
                                    wrkMast.setLiftNo(null);//释放提升机
                                }
                            }

@@ -1497,7 +1504,7 @@
            }

            //获取穿梭车最近且空闲的提升机输送站点
            LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
            LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
            if (liftSta == null) {
                return false;//没有可用且空闲的输送站点
            }
@@ -2219,7 +2226,7 @@
                    continue;
                }

                if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
                if (wrkMast.getWrkSts() != 29) {//29.出库完成
                    continue;
                }

@@ -2229,6 +2236,7 @@
                    //覆盖工作档目标站
                    wrkMast.setStaNo(sourceStaNo);
                    wrkMast.setSourceStaNo(staNo);
                    wrkMast.setMk("N");
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //向300站写入目标站
                        staProtocol = staProtocol.clone();
@@ -2540,7 +2548,16 @@
                }
            } else if (wrkCharge.getWrkSts() == 52) {
                //检测小车是否满电

                //获取满电阈值
                int maxPower = 95;
                EntityWrapper<Config> wrapper = new EntityWrapper<>();
                wrapper.eq("code", "chargeMaxValue");
                Config config = configService.selectOne(wrapper);
                if (config != null) {
                    maxPower = Integer.parseInt(config.getValue());
                }

                if (shuttleProtocol.getPowerPercent() < maxPower) {
                    continue;
                }