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luxiaotao1123

2022-03-09 759ac29f4ede586002f7349abc8d9d0a8c0bf0ba

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

@@ -562,6 +562,26 @@
                continue;
            }
            // todo：小车迁入出
            // 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo())) {
                // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                if (steNo != null) {
                    // 小车搬走



                } else {
                    // 堆垛机入库
                }

            // 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

            }


            this.carMoveIn(wrkMast);


@@ -616,18 +636,6 @@
                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 {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
@@ -641,6 +649,26 @@
    }

    /**
     * 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()) {
            // 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)) {
                if (steProtocol.getRow() == Utils.getRow(locNo) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
                }
            }
        }
        return null;
    }

    /**
     * 入库  ===>>  堆垛机搬入小车
     */
    public void carMoveIn(WrkMast wrkMast) {