#

luxiaotao1123

2022-10-10 e99caac6b8d8af3a2deb98ab131e9c5305fe4eff

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

@@ -314,9 +314,9 @@

                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        }
//                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
//                            throw new CoolException("保存工作明细档历史档失败");
//                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
@@ -527,6 +527,12 @@
                continue;
            }

            // 过滤
            if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
                log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
                continue;
            }

            // 置顶任务
            wrkMast.setIoPri((double) 9999);
            wrkMastMapper.updateById(wrkMast);
@@ -534,11 +540,14 @@
            // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo())) {
                // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                Integer steNo = this.hasCar(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
//                        if (null != wrkMastMapper.selectPakin(slave.getId(), steNo)) {
//                            continue;
//                        }
                        this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                    }
                    // 小车搬走
@@ -699,6 +708,12 @@

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
                }

                // 过滤
                if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
                    log.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
                    continue;
                }

@@ -881,6 +896,8 @@
        if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
            // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo())) {
                // todo:luxiaotao 判断目标库位是否存在小车，如果存在，则搬走小车

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1125,6 +1142,22 @@
    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCar(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
            }
        }
        return null;
    }

    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCarOfIdle(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息