#

Junjie

昨天 efbd157c0d810c39d04cd86752e769a3f3a1a1fc

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

@@ -187,10 +187,10 @@
            }

            //检测障碍物车
            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
            int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
                add(shuttleProtocol.getShuttleNo());
            }}, new ArrayList<>());
            if (checkObstacle) {
            if (checkObstacle > 0) {
                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
                return false;
            }
@@ -378,10 +378,10 @@
            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //检测障碍物车
                boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
                int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
                    add(shuttleProtocol.getShuttleNo());
                }}, new ArrayList<>());
                if (checkObstacle) {
                if (checkObstacle > 0) {
                    News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
                    return false;
                }
@@ -520,10 +520,10 @@
            }

            //检测障碍物车
            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
            int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
                add(shuttleProtocol.getShuttleNo());
            }}, new ArrayList<>());
            if (checkObstacle) {
            if (checkObstacle > 0) {
                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
                return false;
            }
@@ -1097,7 +1097,7 @@
                }

                //判断当前小车是否满足需要充电要求
                if (!shuttleThread.isRequireCharge()) {
                if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
                    continue;
                }

@@ -1324,7 +1324,7 @@
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);//运行命令

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_CHARGING.sts);
            wrkMast.setModiTime(new Date());
            if (!wrkMastService.updateById(wrkMast)) {
                return false;
@@ -1341,7 +1341,7 @@

    //小车停止充电
    private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
@@ -1351,7 +1351,16 @@
                return false;
            }

            if (!shuttleThread.isChargingCompleted()) {
            boolean stopCharge = false;
            if (wrkMast.getMemo().equals("suggestChargeTaskStop")) {
                stopCharge = true;
            }else {
                if (shuttleThread.isChargingCompleted()) {
                    stopCharge = true;
                }
            }

            if (!stopCharge) {
                return false;
            }

@@ -1367,6 +1376,12 @@

            //下发任务
            shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_CHARGING_COMPLETE.sts);
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                return false;
            }
            return false;
        }
        return true;
@@ -1374,7 +1389,7 @@

    //小车离开充电桩
    private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING_COMPLETE.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
@@ -1390,10 +1405,10 @@
            }

            //检测障碍物车
            boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
            int checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
                add(shuttleProtocol.getShuttleNo());
            }}, new ArrayList<>());
            if (checkObstacle) {
            if (checkObstacle > 0) {
                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
                return false;
            }
@@ -1664,7 +1679,7 @@
            assignCommand.setAuto(true);//自动模式

            //获取小车到提升机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败