#

luxiaotao1123

2022-03-11 4d8110b0e290298478d2de799180654e1e79675a

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

@@ -571,7 +571,7 @@
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L) {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
                        this.letCarBeReady(wrkMast, steNo);
                    }
                    // 小车搬走
@@ -828,10 +828,10 @@
    /**
     * 出库  ===>>  库位到堆垛机站
     */
    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
    public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }
@@ -870,45 +870,13 @@
                    continue;
                }

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                    // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            waitWrkMast.setIoPri(15D);
                            waitWrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            }
                        }
                        continue;
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        // 此标记避免多次执行移库任务
                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                        continue;
                    }
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    return;
                    continue;
                }




                // todo
                // 最外层库位，直接堆垛机出库
                if (locMastService.isOutMost(wrkMast.getLocNo())) {
                    // 1.堆垛机开始移动
@@ -934,24 +902,91 @@
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 15.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        return true;
                    }
                // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                } else {
                    // 当前组库位是否有穿梭车
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

                            // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式:  去近点 等待堆垛机叉取
                                // todo:luxiaotao
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                    Date now = new Date();
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setSteNo(steNo);
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    }
                                }
                            }
                        }
                        if (wrkMast.getWrkSts() == 15L) {
                            // 1.堆垛机开始移动
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改工作档状态 11.生成出库ID => 15.吊车出库中
                                Date now = new Date();
                                wrkMast.setWrkSts(15L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 11.生成出库ID => 15.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                                return true;
                            }
                        }

                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getStaNo() == null) {
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId());
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 3L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                        }
                    }
                }












            }
        }
        return false;
    }

    /**
@@ -1177,7 +1212,6 @@
                    case 2:
                        // 修改工作档状态 2.设备上走 => 3.小车待搬
                        wrkMast.setWrkSts(3L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
@@ -1188,7 +1222,6 @@
                    case 8:
                        // 修改工作档状态 8.小车搬入库 => 9.入库完成
                        wrkMast.setWrkSts(9L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
@@ -1196,6 +1229,16 @@
                            steThread.setResetFlag(true);
                        }
                        break;
                    case 14:
                        // 修改工作档状态 14.小车搬出库 => 15.等待吊车
                        wrkMast.setWrkSts(15L);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo());
                        } else {
                            steThread.setResetFlag(true);
                        }
                        break;
                }