单步命令完成状态

Junjie

2023-06-27 d317c70cf46549a5cc190d1e3334bd8945ee46a8

 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) {
@@ -1472,6 +1472,12 @@
                    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;
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getLocNo();
                //工作档目标库位楼层
@@ -1695,9 +1701,6 @@
                    && !liftProtocol.getRunning()
            ) {

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

                DevpThread devpThread = null;
                Integer devpId = null;
                for (DevpSlave devp : slaveProperties.getDevp()){
@@ -1709,6 +1712,16 @@
                //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
                    if (liftProtocol.getLev().intValue() != lev) {
                        continue;//提升机没有到达目标
                    }

                    //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
                            //给目标站设置工作号
@@ -1719,6 +1732,8 @@
                            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
@@ -1750,6 +1765,9 @@
                //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