#

luxiaotao1123

2022-11-01 8fb65b05c4e7abf048ef9b2f615d647226b06f1a

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

@@ -2726,6 +2726,7 @@
                wrkCharge.setWrkSts(41L);   // 41.小车准备复位
                wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                wrkCharge.setIoPri((double) 10);
                wrkCharge.setSourceLocNo(value.locNo);
                wrkCharge.setLocNo(basSte.getIdleLoc());
                wrkCharge.setMemo("reset");
                if (!wrkChargeService.insert(wrkCharge)) {
@@ -2733,6 +2734,57 @@
                    continue;
                }

                // 1.搬运至固定通道
                if (wrkCharge.getWrkSts() == 41L) {
                    // 搬小车至小车走向通道
                    List<String> channel = slaveProperties.getChannel();
                    for (String channelLocNo : channel) {
                        Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                        if (null != otherSte) {
                            log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                        } else {
                            // 固定堆垛机
                            int crnNo = 1;
                            LocMast channelLoc = locMastService.selectById(channelLocNo);

                            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                            if (crnProtocol == null) { continue; }
                            // 只有当堆垛机空闲 并且 无任务时才继续执行
                            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                                // 堆垛机命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(crnNo); // 堆垛机编号
                                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                                crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改穿梭车运行中排列层
                                    steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                    // 修改工作档状态 41.小车准备复位 => 42.吊车搬运
                                    Date now = new Date();
                                    wrkCharge.setWrkSts(42L);
                                    wrkCharge.setCrnStrTime(now);
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改工作档状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                }
                                break;
                            }

                        }
                    }

                }
            }
        }
    }