#

Junjie

2025-03-26 6be00baf701ae78d7d28a0053ee805f88ea6b50c

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

@@ -432,6 +432,9 @@
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                                continue;//小车未到达目标层
                            }
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
@@ -1118,6 +1121,10 @@
                        continue;//小车和充电桩不在同一层
                    }

                    if (charge.getStatus() == 0) {
                        continue;//充电桩被禁用
                    }

                    //小车和充电桩在同一层
                    if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                        shuttleCharge = charge;
@@ -1130,12 +1137,17 @@
                    //小车同楼层没有充电桩，只要充电桩可用就生成充电任务
                    for (BasShuttleCharge charge : charges) {
                        if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                            //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
                            int chargeLev = Utils.getLev(charge.getLocNo());//充电桩楼层
                            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
                            if (checkLevHasShuttle) {
                                //当前充电桩楼层有穿梭车，不分配该充电桩
                            //判断当前充电桩是否有小车，如有小车，不分配该充电桩
                            ArrayList<String> locs = new ArrayList<>();
                            locs.add(charge.getLocNo());
                            Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
                            if(checkHasShuttle != null) {
                                //当前充电桩有穿梭车，不分配该充电桩
                                continue;
                            }

                            if (charge.getStatus() == 0) {
                                continue;//充电桩被禁用
                            }

                            shuttleCharge = charge;
@@ -1464,11 +1476,19 @@
                return false;//找不到站点
            }

            //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
            if (liftWrkMast != null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            if (wrkMast.getLiftNo() == null) {
                //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
                if (liftWrkMast != null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }

                wrkMast.setModiTime(now);
                wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
                return false;
            }

            //*************尝试锁定目标站路径***************
@@ -1509,9 +1529,7 @@

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
//            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -1695,6 +1713,10 @@
            List<ShuttleCommand> commands = null;
            //跨楼层移动任务
            if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                    return false;//小车未到达目标层
                }

                //需要将前两个节点作为白名单节点传入
                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
                if (targetNodes == null) {