初步调试

zc

2025-04-24 58eaf5e73359f7164525d9c50f6e5bf82b247e32

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

@@ -813,7 +813,7 @@
//    }
    public synchronized void liftInExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
                if (!step0) {
@@ -858,11 +858,13 @@
                News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                return false;
            if (wrkMast.getSourceStaNo() != 1031) {
                if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
@@ -875,7 +877,7 @@
            short staNo = 1012;
            if (wrkMast.getSourceStaNo() == 1022) {
                staNo = 1023;
            } else if (wrkMast.getSourceStaNo() == 1032) {
            } else if (wrkMast.getSourceStaNo() == 1031) {
                staNo = 1032;
            }

@@ -943,6 +945,8 @@
            Integer sourceStaNo = wrkMast.getSourceStaNo();
            if (wrkMast.getSourceStaNo() == 1022) {
                sourceStaNo = 1023;
            } else if (wrkMast.getSourceStaNo() == 1031) {
                sourceStaNo = 1032;
            }

            StaProtocol staProtocol = station.get(sourceStaNo);
@@ -970,7 +974,7 @@
                    return false;
                }
            } else if (sourceStaNo == 1032) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
@@ -990,11 +994,9 @@

            int lev = 101;
            if (wrkMast.getSourceStaNo() == 1021) {
                //TODO
                // lev = 105;
                lev = 1021;
                lev = 100 + Utils.getLev(wrkMast.getLocNo());
            } else if (wrkMast.getSourceStaNo() == 1031) {
                lev = 1031;
                lev = 100 + Utils.getLev(wrkMast.getLocNo());
            }
            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
@@ -1119,11 +1121,10 @@
                return false;
            }
            if (wrkMast.getStaNo() == 1031) {
                //TODO
                if (staProtocol.getOutInModel() != 1) {
                    News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
//                if (staProtocol.getOutInModel() != 1) {
//                    News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
//                    return false;
//                }
            } else {
                if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
                    News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
@@ -1214,9 +1215,12 @@
            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
            LiftCommand liftCommand = liftCommands.get(0);

            int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
            liftCommand.setTaskNo(deviceWrk);//更换随机任务号
            if ( wrkMast.getStaNo()==1031){
                liftCommand.setTaskNo(wrkMast.getWrkNo());
            }else {
                int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
                liftCommand.setTaskNo(deviceWrk);//更换随机任务号
            }

            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);
@@ -1232,6 +1236,7 @@
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
@@ -1573,7 +1578,11 @@
                            wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
                        } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
                            //104.提升机搬运中 ==> 109.出库完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                            if (wrkMast.getStaNo() == 1031) {
                                wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
                            } else {
                                wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                            }
                            wrkMast.setLiftNo(null);//释放提升机
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
                            //306.提升机搬运中 ==> 307.提升机搬运完成
@@ -1600,7 +1609,6 @@
                            //提升机至小车层 ==> 提升机至小车层完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
                        }

                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            liftThread.setSyncTaskNo(0);
@@ -1626,9 +1634,24 @@
            Map<Integer, StaProtocol> station = devpThread.getStation();
            WrkMast wrkMast = null;
            for (StaProtocol staProtocol : station.values()) {
                if (staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1024) {
                if ((staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
                    wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
                    if (wrkMast != null) {
                        wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
                        } else {
                            News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
                        }
                    }
                } else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
                    wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
                    if (wrkMast != null) {
                        staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                        staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                        wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
@@ -2137,11 +2160,17 @@
    }

    private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
        LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
        if (liftThread == null) {
            return;
        WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
        LiftThread liftThread;
        if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
            liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        } else {
            liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
            if (liftThread == null) {
                return;
            }
        }

        //liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
        String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
        if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
            //取货位置是提升机