#

luxiaotao1123

2022-03-10 506b9ea416e08db32ddd93362bd3a915061de3c7

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

@@ -577,8 +577,7 @@
                    }
                // 没有小车
                } else {
                    // 堆垛机入库
                    // 命令下发区 --------------------------------------------------------------------------
                    // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
@@ -599,7 +598,7 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 {} => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                        }
                        return true;
                    }
@@ -607,9 +606,52 @@

            // 目标库位 ===>> 非最外层库位
            } else {
                // 判断小车是否在当前组库位，如果是则堆垛机将货物放置小车上，如果不是，则直接堆垛机搬移小车至当前组的最外层库位
                // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L) {
                        this.letCarBeReady(wrkMast, steNo);
                    }
                    // 堆垛机将货放至小车上 3.小车待搬 ===>> 7.吊车入库中
                    if (wrkMast.getWrkSts() == 3L) {
                        // 小车处于空闲
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                            // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                            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(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(locMast.getLev1().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  3.小车待搬 ===>> 7.吊车入库中
                                Date now = new Date();
                                wrkMast.setWrkSts(7L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 3.小车待搬 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                                return true;
                            }
                        }
                    }
                // 没有小车
                } else {

                }


            }
@@ -626,8 +668,6 @@

    /**
     * 当前库位组是否存在空闲小车
     * @param locNo
     * @return
     */
    public Integer hasCarOfIdle(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
@@ -666,6 +706,7 @@
                // 修改工作档状态 2.设备上走 => 3.小车待搬
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setSteNo(steNo);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
@@ -937,6 +978,23 @@
    }

    /**
     * 穿梭车入库
     */
    public void carGenerateStore() {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

                wrkMastMapper.selectPakInStep8()

            }
        }
    }

    /**
     * 堆垛机针对于小车迁移工作的完成
     */
    @Async
@@ -991,10 +1049,16 @@
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 入库 + 库位转移  ==> 9.入库完成
                // 入库 + 库位转移
                if (wrkMast.getWrkSts() == 7 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
                    wrkMast.setWrkSts(9L);
                } else  {
                    if (locMastService.isOutMost(wrkMast.getLocNo())) {
                        // ==> 9.入库完成
                        wrkMast.setWrkSts(9L);
                    } else {
                        // ==> 8.小车搬入库
                        wrkMast.setWrkSts(8L);
                    }
                } else {
                    continue;
                }
                Date now = new Date();