#

luxiaotao1123

2022-09-19 ccbcfdb4241951a36c1d2fe1e0bca6e8b8deb719

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

@@ -404,13 +404,13 @@
                    if (basCrnp.getInEnable().equals("Y")) {
                        //  入库
                        if (this.crnStnToLoc(crn, crnProtocol)) {
                            crnProtocol.setLastIo("O");
                        }
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        //  出库
                        if (this.locToCrnStn(crn, crnProtocol)) {
                            crnProtocol.setLastIo("I");
                        }
                        crnProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
@@ -418,13 +418,13 @@
                    if (basCrnp.getOutEnable().equals("Y")) {
                        //  出库
                        if (this.locToCrnStn(crn, crnProtocol)) {
                            crnProtocol.setLastIo("I");
                        }
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        //  入库
                        if (this.crnStnToLoc(crn, crnProtocol)) {
                            crnProtocol.setLastIo("O");
                        }
                        crnProtocol.setLastIo("O");
                    }
                }
            }
@@ -541,7 +541,7 @@
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                        this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                    }
                    // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入  ===>> 7.吊车入库中
                    if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
@@ -803,6 +803,40 @@
            }
        }
        return null;
    }

    /**
     * 让小车从 远点 ====>> 待机
     *  等待堆垛机搬运
     */
    public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(9999); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
    }

    /**
@@ -1077,6 +1111,18 @@
                        if (!steThread.confirmPos()) {
                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                        }
                        // 穿梭车去待机位
                        BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
                        steCommand.setTaskNo(9999); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式:  去近点 等待堆垛机叉取
//                        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
                        if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
                            log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                        }
                    } else {
                        log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
@@ -1324,7 +1370,7 @@
                }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 ||  (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999) || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);