#

Junjie

2023-10-03 87186c12f7c8864da8925aea3e91ecde1d16d255

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

@@ -236,8 +236,8 @@
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                            // plc 处理
//                            barcodeThread.setBarcode("");
                            // plc 处理
                            barcodeThread.setBarcode("");
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -794,6 +794,12 @@
                return false;//小车已被独占，禁止再派发任务
            }

            //判断小车是否存在移动任务
            WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
            if (hasMoveWorking != null) {
                return false;//存在移动任务，禁止执行入库任务
            }

            //判断小车是否到达输送站点库位
            if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车不在输送站点位置
@@ -1196,6 +1202,17 @@

        //23.小车搬运完成 ==> 24.提升机搬运中
        if (wrkMast.getWrkSts() == 23) {
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }

            //调度小车避让
            boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
            if (!result) {
                return false;
            }

            //获取出库站点(目标站)
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
@@ -1293,7 +1310,7 @@
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            wrkMast.setWrkSts(4L);
                            wrkMast.setLiftNo(null);//释放提升机
                            if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
                            if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }
@@ -1307,6 +1324,12 @@
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }

                            if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
                                //不需要用到机械臂，直接转29.出库完成
                                wrkMast.setWrkSts(29L);
                            }

                            break;
                        case 106://106.提升机搬运中 ==> 107.提升机搬运完成
                            wrkMast.setWrkSts(107L);
@@ -1915,7 +1938,7 @@
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            barcodeThread.setBarcode("");
//                            // 更新站点信息 且 下发plc命令
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
@@ -1968,7 +1991,7 @@
                    continue;
                }

                if (wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                    Short targetSta = null;//目标站
                    //判断机械臂拣料站是否空闲
                    StaProtocol staProtocol303 = devpThread.getStation().get(303);
@@ -1985,19 +2008,21 @@

                    targetSta = (short) 317;

                    //覆盖工作档目标站
                    wrkMast.setStaNo(targetSta.intValue());
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //向300站写入目标站
                        staProtocol = staProtocol.clone();
                        staProtocol.setStaNo(targetSta);//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();
                    if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
                        //覆盖工作档目标站
                        wrkMast.setStaNo(targetSta.intValue());
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //向300站写入目标站
                            staProtocol = staProtocol.clone();
                            staProtocol.setStaNo(targetSta);//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();
                            }
                            continue;
                        }
                        continue;
                    }
                }
            }
@@ -2006,28 +2031,30 @@
            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");
//                //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");
            }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");
//                //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");
            }
        }
    }
@@ -2471,7 +2498,7 @@
            }

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -2906,7 +2933,7 @@
//            liftNode.setZ(basLift.getPoint$().getZ());

            //获取小车到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
            if (result == null) {
                return false;//路径计算失败
            }