#

Junjie

2023-12-15 91f54031fbe09695c0664aa712a66d31fd97cd7b

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

@@ -2824,6 +2824,7 @@
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                List<WrkMastLog> wrkMastLogs = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2851,6 +2852,7 @@
                        locNo = wrkMastLog.getLocNo();
                        wrkStaNo = wrkMastLog.getStaNo();
                        barcode = wrkMastLog.getBarcode();
                        wrkMastLogs.add(wrkMastLog);
                    }else {
                        if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                            continue;
@@ -2860,8 +2862,8 @@
                        locNo = wrkMast.getLocNo();
                        wrkStaNo = wrkMast.getStaNo();
                        barcode = wrkMast.getBarcode();
                        wrkMasts.add(wrkMast);
                    }
                    wrkMasts.add(wrkMast);
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkNo);
@@ -2895,7 +2897,7 @@
                    if (ioType != 110 && ioType != 10) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
                        locDetls.forEach(locDetl -> {
                            Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkMast.getWrkNo());
                            Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
                            Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                            Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                            Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
@@ -2932,17 +2934,23 @@
                            });

                            if (wrkDetls.isEmpty()) {//从历史档查询
                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo);
                                wrkDetlLogs.forEach(wrkDetl -> {
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                                });
                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
                                for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
                                }

                            }
                        }
                    }

                    commands.add(ledCommand);
                }
                Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                Set<Integer> workNos = null;
                if (!wrkMasts.isEmpty()) {
                    workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                }else {
                    workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
                }
                // 获取LED线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // 相同工作号集合则过滤
@@ -3381,6 +3389,17 @@

            //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(), NavigationMapType.NORMAL.id);
            if (result == null) {
                //路径获取失败，需要解锁上面锁定的路径
                //尝试解锁目标站路径
                boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
                if (!result3) {
                    News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;//路径解锁失败
                }
                News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
            }
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();