#提升机异常修复

Junjie

2023-10-22 c854f26ad2a0ff056cbb8505f838ac3e6b4a4d4c

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

@@ -2159,9 +2159,9 @@
                continue;
            }

            if (staProtocol309.isAutoing() && staProtocol309.isLoading()) {
            if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 11);//308站条码器
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器
                if (barcodeThread == null) {
                    continue;
                }
@@ -2169,10 +2169,13 @@
                if(!Cools.isEmpty(barcode)) {
                    //通知AGV取货
                    agvRestockCall("CS-301-001-01@3", barcode);
                    log.info("通知AGV取货，条码号：" + barcode);
                }
            } else if (staProtocol312.isAutoing() && staProtocol312.isLoading()) {
            }

            if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 12);//311站条码器
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器
                if (barcodeThread == null) {
                    continue;
                }
@@ -2180,6 +2183,7 @@
                if(!Cools.isEmpty(barcode)) {
                    //通知AGV取货
                    agvRestockCall("CS-302-001-01@3", barcode);
                    log.info("通知AGV取货，条码号：" + barcode);
                }
            }
        }
@@ -2851,6 +2855,27 @@
                return false;
            }

            //*************尝试锁定目标站路径***************
            //获取目标站
            LiftStaProtocol targetLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (targetLiftSta == null) {
                return false;//找不到站点
            }
            NavigateNode targetNode = NavigatePositionConvert.locNoToNode(targetLiftSta.getLocNo());//目标节点
            NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
            List<NavigateNode> targetNodes = new ArrayList<>();
            targetNodes.add(targetNode);
            boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
            if (!checkPathIsAvailable) {
                return false;//检测目标站点路径是否未被占用
            }
            //尝试锁定目标站路径
            boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, true);//所使用的路径进行锁定禁用
            if (!result) {
                return false;//路径锁定失败
            }
            //*************尝试锁定目标站路径***************

            //站点节点
            NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());

@@ -3053,6 +3078,19 @@
            if (basLift.getPoint() == null) {
                return false;//没有设置提升机点位坐标
            }

            //*************尝试解锁目标站路径***************
            NavigateNode targetNode = NavigatePositionConvert.locNoToNode(liftSta.getLocNo());//目标节点
            NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
            List<NavigateNode> targetNodes = new ArrayList<>();
            targetNodes.add(targetNode);
            //尝试解锁目标站路径
            boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, false);//所使用的路径进行解锁
            if (!result) {
                return false;//路径解锁失败
            }
            //*************尝试解锁目标站路径***************

            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
            liftNode.setZ(liftSta.getLev());