#

tqs

2023-03-30 8731471f40df61a849c5d1f681cfa182307604dc

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

@@ -493,7 +493,7 @@
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            News.info("再入库获取新库位成功，返回数据===>>", JSON.toJSON(dto));
//                            // 获取目标站
//                            Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
//                                    .eq("type_no", wrkMast.getIoType() - 50)
@@ -565,6 +565,9 @@

                            ledThread.errorReset();

                            if(wrkMast.getIoType()>100){
                                throw new CoolException("再入库更新工作档失败，不能给PLC下发任务===>>" + wrkMast.getWrkNo());
                            }
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
@@ -1156,6 +1159,8 @@
                                        .last(" and wrk_sts in (12,13,14,15,16)"));
                                if(one2==null) {
                                    moveLocForDeepLoc(slave, shallowLoc);
                                } else {
                                    News.error("浅库位阻塞时，且浅库位存在作业中出库任务！工作号={}", one2.getWrkNo());
                                }
                                flag = true;
                                break;
@@ -1173,11 +1178,17 @@
                            break;
                        }

                        //20230307 ADD，再加一次判断，当浅库位状态不为O时，不执行当前出库任务
                        if(shallowLoc!=null && !shallowLoc.getLocSts().equals("O")){
                            News.error("做了浅库位阻塞处理后反复判断，浅库位状态不为O ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", wrkMast.getSourceLocNo(), shallowLoc.getLocNo());
                            flag = true;
                            break;
                        }
                    }
                }
            }
            if(flag){
                continue;
                return false;
            }

            // 工作档状态判断
@@ -2324,18 +2335,35 @@
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {

                    if( crnCommand.getSourcePosX() == crnCommand.getDestinationPosX()
                        && crnCommand.getSourcePosY() == crnCommand.getDestinationPosY()
                        && crnCommand.getSourcePosZ() == crnCommand.getDestinationPosZ()){
                        //打补丁，如果出现源排列层 和目标排列层完全相同时，不给堆垛机发任务，状态直接由3 ==>> 6
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                        // 修改工作档状态 3.小车待搬 => 4.迁入小车
                        // 修改工作档状态 3.小车待搬 => 6.小车待入
                        Date now = new Date();
                        wrkMast.setWrkSts(4L);
                        wrkMast.setWrkSts(6L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 3.小车待搬 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    } else {
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改穿梭车运行中排列层
                            steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                            // 修改工作档状态 3.小车待搬 => 4.迁入小车
                            Date now = new Date();
                            wrkMast.setWrkSts(4L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    }
                // 出库搬
@@ -2694,7 +2722,7 @@
                            SteCommand steCommand = new SteCommand();
                            steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
                            steCommand.setTaskNo(9999); // 工作号
                            steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式:  去近点 等待堆垛机叉取
                            steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式:  去待机位避让
//                        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
@@ -3868,7 +3896,11 @@
                    boolean success = true;
                    List<String> insideLoc = Utils.getGroupInsideLoc(one.getLocNo());
                    for (String inside : insideLoc) {
                        if (locMastService.selectById(inside).getLocSts().equals("P")
                        LocMast locMast = locMastService.selectById(inside);
                        if(Cools.isEmpty(locMast)){
                            continue;
                        }
                        if (locMast.getLocSts().equals("P")
                                || locMastService.selectById(inside).getLocSts().equals("R")
                                || locMastService.selectById(inside).getLocSts().equals("S")
                                || locMastService.selectById(inside).getLocSts().equals("Q")) {