#

luxiaotao1123

2022-03-10 e4abcf00a4be207814968b8be9b92be33ce1b0c9

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

@@ -493,8 +493,10 @@
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                        //  入库
                        if (this.crnStnToLoc(crn, crnProtocol)) {
                            crnProtocol.setLastIo("O");
                        }
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
@@ -506,8 +508,10 @@
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                        //  入库
                        if (this.crnStnToLoc(crn, crnProtocol)) {
                            crnProtocol.setLastIo("O");
                        }
                    }
                }
            }
@@ -576,6 +580,12 @@
                    }
                // 没有小车
                } else {

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }

                    // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -610,16 +620,21 @@
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L) {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
                        this.letCarBeReady(wrkMast, steNo);
                    }
                    // 堆垛机将货放至小车上 3.小车待搬 / 6.小车待入  ===>> 7.吊车入库中
                    // 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) {
                        // 小车处于空闲
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }
                            // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -641,7 +656,7 @@
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 3.小车待搬 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                    log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                                return true;
                            }
@@ -649,29 +664,20 @@
                    }
                // 没有小车
                } else {
                    if (wrkMast.getWrkSts() == 2L) {
                        // 1.寻找最近的小车
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
                        // 寻找最近的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
                            // 2.让小车等待搬运待续
                            // 让小车等待搬运待续
                            this.letCarBeReady(wrkMast, steThread.getSlave().getId());
                        }
                    }
                    // 3.堆垛机搬运小车
                    // 堆垛机搬运小车
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveIn(wrkMast, wrkMast.getSteNo());
                        this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                    }
                    // 4.堆垛机搬运货物

                }

            }

            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                continue;
            }


        }
        return false;
@@ -727,44 +733,44 @@
    /**
     * 入库  ===>>  堆垛机搬入小车
     */
    public void carMoveIn(WrkMast wrkMast, Integer steNo) {
    public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
        // 获取堆垛机信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

            LocMast locMast;
            if (wrkMast.getWrkSts() <= 10) {
                locMast = locMastService.selectById(wrkMast.getLocNo());
                // 堆垛机命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(locMast.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.setSourcePosX(steProtocol.getRow());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {

                    // 修改工作档状态 3.小车待搬 => 4.迁入小车
                    Date now = new Date();
                    wrkMast.setWrkSts(4L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
            // 堆垛机空闲
            if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
                LocMast locMast;
                if (wrkMast.getWrkSts() <= 10) {
                    locMast = locMastService.selectById(wrkMast.getLocNo());
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    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.setSourcePosX(steProtocol.getRow());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 3.小车待搬 => 4.迁入小车
                        Date now = new Date();
                        wrkMast.setWrkSts(4L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }

                }

            }


        }
    }
@@ -1106,7 +1112,18 @@
                    }
                // 迁出小车 完成
                } else if (wrkMast.getWrkSts() == 5) {

                    // 5.迁出小车 ==> 6.小车待入
                    wrkMast.setWrkSts(6L);
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    } 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());
                    }
                }
            }
        }
@@ -1122,7 +1139,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
            if (steProtocol.getStatusType().equals(SteStatusType.WAITING) && steProtocol.getTaskNo() != 0) {
                // 查询是否有待入库的任务
                WrkMast wrkMast = wrkMastMapper.selectPakInStep8(steProtocol.getSteNo().intValue());
                if (wrkMast == null) { continue; }