#

Junjie

2025-03-29 e04f0981da6554606359e6de4e91b752a64aae6c

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

@@ -263,7 +263,7 @@
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
                if (liftWrkMast != null) {
                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
                        return false;
                    }
                }
@@ -432,6 +432,9 @@
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                                continue;//小车未到达目标层
                            }
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
@@ -713,7 +716,7 @@
                }
            }

            //检测楼层是否有穿梭车
            //检测楼层是否有可用穿梭车
            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
            if (!checkLevHasShuttle) {
                if (wrkMast.getShuttleNo() != null) {
@@ -1710,6 +1713,10 @@
            List<ShuttleCommand> commands = null;
            //跨楼层移动任务
            if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                    return false;//小车未到达目标层
                }

                //需要将前两个节点作为白名单节点传入
                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
                if (targetNodes == null) {