#

Junjie

2023-10-12 a71d0a6a0d5e31f0e93feaf0444d93bc603fdd90

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

@@ -1190,10 +1190,14 @@
                return false;
            }

            //调度小车避让
            boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
            if (!result) {
                return false;
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车还在输送站点
                //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)
@@ -1377,7 +1381,7 @@
                    continue;
                }

                boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到出库口
                boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
                if (!step4) {
                    continue;
                }
@@ -2001,6 +2005,7 @@
                    if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
                        //覆盖工作档目标站
                        wrkMast.setStaNo(targetSta.intValue());
                        wrkMast.setShuttleNo(null);//释放小车
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //向300站写入目标站
                            staProtocol = staProtocol.clone();
@@ -2026,15 +2031,15 @@
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                if (wrkDetls.isEmpty()) {
                    continue;
                }

                if (wrkMast.getInvWh() == null) {
                    wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                    }
                }
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
@@ -2044,14 +2049,14 @@
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                if (wrkDetls.isEmpty()) {
                    continue;
                }
                if (wrkMast.getInvWh() == null) {
                    wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "317");
                    }
                }
            }