#

Junjie

2023-10-10 597c2680c8a4b233791db04f076afcb8570cf6e3

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

@@ -1377,7 +1377,7 @@
                    continue;
                }

                boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到出库口
                boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
                if (!step4) {
                    continue;
                }
@@ -2021,30 +2021,82 @@
            StaProtocol staProtocol317 = devpThread.getStation().get(317);
            if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
                //调度机械臂
//                //查询是否有工作档
//                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
//                if (wrkMast == null) {
//                    continue;
//                }
//                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
//                if (wrkDetl == null) {
//                    continue;
//                }
//                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "303");
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }

                if (wrkMast.getInvWh() == null) {
                    wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
                    }
                }
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                //调度机械臂
//                //查询是否有工作档
//                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
//                if (wrkMast == null) {
//                    continue;
//                }
//                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
//                if (wrkDetl == null) {
//                    continue;
//                }
//                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "317");
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }
                if (wrkMast.getInvWh() == null) {
                    wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
                    }
                }
            }
        }
    }

    // 300站拣料
    public void pick300() {
        //检测300站是否自动、有物、工作号
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 获取入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocol = devpThread.getStation().get(300);
            if (staProtocol == null) {
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }

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

                if (wrkMast.getMk() == null) {
                    Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
                    Integer staNo = wrkMast.getStaNo();//目标站
                    //覆盖工作档目标站
                    wrkMast.setStaNo(sourceStaNo);
                    wrkMast.setSourceStaNo(staNo);
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //向300站写入目标站
                        staProtocol = staProtocol.clone();
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        try {
                            Thread.sleep(500);
                        } catch (Exception e) {
                            e.printStackTrace();
                        }
                    }
                }
            }
        }
    }