搜索最近穿梭车，提升机完成方法

Junjie

2023-06-27 c2b0be1a368a88e4adb6dda12d0aa5d3bb0df838

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

@@ -1079,14 +1079,14 @@
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                            String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置
                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                            if (locMast1 == null) {
                                continue;//找不到库位
                            }
                            short disCode = Short.parseShort(locMast1.getQrCodeValue());
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);
                            commands.add(moveCommand);

                            //分配目标库位
@@ -1159,14 +1159,14 @@
                        BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                        Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                        String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                        String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置
                        LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                        if (locMast1 == null) {
                            continue;//找不到库位
                        }
                        short disCode = Short.parseShort(locMast1.getQrCodeValue());
                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                        ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);

                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                        if (commands == null) {
@@ -1216,6 +1216,16 @@
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        //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() < 101) {
            //入库
            distLocNo = Utils.levToOutInStaLocNo(lev);
        }else {
            //出库
            distLocNo = locNo;
        }

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -1231,6 +1241,14 @@
            if (shuttleLocNo == null) {
                continue;
            }

            if (shuttleLocNo.equals(distLocNo)) {
                //车辆当前位置已经是目标库位，无需计算
                map.put("sameLay", true);//同层
                map.put("result", shuttleThread);
                return map;
            }

            int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
            if (lev == shuttleLocNoLey) {
                //工作档楼层相同的穿梭车
@@ -1248,16 +1266,6 @@
            for (ShuttleThread shuttleThread : sameLev) {
                if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
                    recentShuttle = shuttleThread;
                }

                //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() < 101) {
                    //入库
                    distLocNo = Utils.levToOutInStaLocNo(lev);
                }else {
                    //出库
                    distLocNo = locNo;
                }

                //当前穿梭车库位号
@@ -1469,6 +1477,12 @@
                }
                if (liftProtocol.getPlatShuttleCheck()) {
                    //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
                    continue;
                }

                //获取目标站
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
                if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
                    continue;
                }

@@ -1695,9 +1709,6 @@
                    && !liftProtocol.getRunning()
            ) {

                //标记复位
                liftProtocol.setPakMk(true);

                DevpThread devpThread = null;
                Integer devpId = null;
                for (DevpSlave devp : slaveProperties.getDevp()){
@@ -1709,8 +1720,18 @@
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    //判断提升机是否到达任务楼层
                    String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
                    int lev = Utils.getLev(locNo);//任务目标楼层

                    //标记复位
                    liftProtocol.setPakMk(true);

                    switch (wrkMast.getWrkSts().intValue()) {
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            //给目标站设置工作号
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1719,15 +1740,26 @@
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            wrkMast.setWrkSts(4L);
                            break;
                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            wrkMast.setWrkSts(8L);
                            break;
                        case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            wrkMast.setWrkSts(25L);
                            break;
                        case 28://28.提升机搬运中 ==> 29.提升机搬运完成
                            if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
                                continue;//提升机是否达到输送线楼层
                            }
                            wrkMast.setWrkSts(29L);
                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
                            //任务号清零
@@ -1750,6 +1782,9 @@
                //查询是否有充电任务
                WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
                if (wrkCharge != null) {
                    //标记复位
                    liftProtocol.setPakMk(true);
                    
                    switch (wrkCharge.getWrkSts().intValue()) {
                        case 54://提升机搬运中
                            wrkCharge.setWrkSts(55L);//提升机搬运完成