#

luxiaotao1123

2022-09-15 e0276af68793e2e7d999f8cf31727ae0657fc84e

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

@@ -451,6 +451,13 @@
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }
            if (wrkMast.getWrkSts() < 3) {
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                flag = true;
@@ -458,11 +465,6 @@
            if (!flag) {
                continue;
            }
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
@@ -857,7 +859,7 @@
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
@@ -886,7 +888,7 @@
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
@@ -1044,6 +1046,18 @@
                        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 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
@@ -1116,6 +1130,9 @@
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
                if (steProtocol.getTaskNo() == 9999) {
                    steThread.setResetFlag(true);
                } else {
                // 查询是否有待入库的任务
                WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue());
                if (wrkMast == null) { continue; }
@@ -1162,8 +1179,7 @@
                        }
                        break;
                }


                }
            }
        }
    }