#

luxiaotao1123

2022-11-29 fad0239c357dfa96fed80028c97fa3634a92a2e5

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

@@ -173,7 +173,7 @@
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
//                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -643,7 +643,7 @@
                    }
                }
                // 库位移转
                this.locToLoc(crn, crnProtocol);
//                this.locToLoc(crn, crnProtocol);
            }
        }
    }
@@ -732,9 +732,9 @@
                                        log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    //20220719 Add，如果浅库位状态为P/R，工作状态为14/15,说明浅库位已经空了，可以执行入库任务
                                    continue;
                                }
                            }
                            continue;
                        }
                        if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            // 此标记避免多次执行移库任务
@@ -847,7 +847,7 @@
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        // 小车行走到堆垛机待搬移点
                        // 小车行走到待机位
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
@@ -1174,6 +1174,7 @@
    /**
     * 库位移转
     */
    @Deprecated
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
@@ -1346,8 +1347,7 @@
    }

    /**
     * 让小车从 远点 ====>> 待机
     *  等待堆垛机搬运
     * 让小车行走至待机位
     */
    public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
        // 获取穿梭车信息
@@ -1356,24 +1356,35 @@
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
            // 如果处于待机位
            if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
                // 修改工作档状态 绑定穿梭车
                wrkMast.setWrkSts(3L);
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            } else {
                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式:  行走至待机位

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 绑定穿梭车
                    wrkMast.setSteNo(steNo);
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
        }
@@ -2765,6 +2776,7 @@
    public synchronized void queryChargeLocOfComplete() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        // 检索充电桩
        for (SteChargeType value : SteChargeType.values()) {
@@ -2817,6 +2829,8 @@
                    wrkCharge.setAppeTime(new Date());
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("保存{}号穿梭车复位任务失败!!!", steNo);
                    } else {
                        break;
                    }
                }
            }
@@ -2975,7 +2989,6 @@
                            }
                        }
                    }


                    if (null != loc) {
                        break;