捡料

Junjie

2023-07-25 bcf5f3b314ab420ba53c1e1247fe9b3a208a558c

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

@@ -200,9 +200,20 @@
                    }

                    // 过滤盘点/拣料/并板任务
//                    if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
//                        continue;
//                    }
                    WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
                    if (null != wrkMast1) {
                        // plc 处理
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(wrkMast1.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast1.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);

                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                        continue;
                    }

                    // 判断重复工作档
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -397,7 +408,6 @@
                }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        // 0 - 9990 或者 9996
                        && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
                        && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
@@ -466,7 +476,7 @@
                        SearchLocParam param = new SearchLocParam();
                        param.setWrkNo(wrkMast.getWrkNo());
                        param.setIoType(wrkMast.getIoType());
                        param.setSourceStaNo(pickSta.getStaNo());
                        param.setSourceStaNo(wrkMast.getSourceStaNo());
//                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
@@ -511,6 +521,7 @@
                            wrkMast.setCrnNo(dto.getCrnNo());
                            wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
                            wrkMast.setSourceLocNo(""); // 源库位清空
                            wrkMast.setShuttleNo(null); // 穿梭车清空
                            wrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
@@ -935,13 +946,13 @@
            Integer middleToDistDistance = null;//计算中间点到目标点行走距离
            if (nodes.size() > 10) {//中段码传倒数第三个
                //中间路径
                middlePath = nodes.get(nodes.size() - 2);
                middlePath = nodes.get(nodes.size() - 3);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
            } else if (nodes.size() > 5) {//中段码传倒数第二个
                //中间路径
                middlePath = nodes.get(nodes.size() - 1);
                middlePath = nodes.get(nodes.size() - 2);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
@@ -1005,13 +1016,13 @@
                Integer middleToDistDistance = null;//计算中间点到目标点行走距离
                if (nodes.size() > 10) {//中段码传倒数第三个
                    //中间路径
                    middlePath = nodes.get(nodes.size() - 2);
                    middlePath = nodes.get(nodes.size() - 3);
                    //通过xy坐标小车二维码
                    middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                    middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                } else if (nodes.size() > 5) {//中段码传倒数第二个
                    //中间路径
                    middlePath = nodes.get(nodes.size() - 1);
                    middlePath = nodes.get(nodes.size() - 2);
                    //通过xy坐标小车二维码
                    middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                    middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
@@ -1057,13 +1068,13 @@
            Integer middleToDistDistance = null;//计算中间点到目标点行走距离
            if (nodes.size() > 10) {//中段码传倒数第三个
                //中间路径
                middlePath = nodes.get(nodes.size() - 2);
                middlePath = nodes.get(nodes.size() - 3);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
            } else if (nodes.size() > 5) {//中段码传倒数第二个
                //中间路径
                middlePath = nodes.get(nodes.size() - 1);
                middlePath = nodes.get(nodes.size() - 2);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
@@ -1343,10 +1354,10 @@

        //判断其他空闲穿梭车是否离任务最近
        String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
        if (wrkMast.getIoType() == 1) {
        if (wrkMast.getIoType() < 101 && wrkMast.getIoType() != 11) {
            //入库
            distLocNo = Utils.levToOutInStaLocNo(lev);
        }else if(wrkMast.getIoType() == 101){
        }else if(wrkMast.getIoType() >= 101){
            //出库
            distLocNo = locNo;
        } else if (wrkMast.getIoType() == 11) {