#

Junjie

5 小时以前 b6428016edf3de843020bc95fd1708d3bb1961e5

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

@@ -309,6 +309,23 @@
                return false;
            }

            List<WrkMast> shuttleMoveList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("io_type", 200)
            );
            for (WrkMast moveWrkMast : shuttleMoveList) {
                if(Utils.getLev(moveWrkMast.getLocNo()) != Utils.getLev(wrkMast.getSourceLocNo())) {
                    continue;
                }

                if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) {
                    continue;
                }

                //存在换层任务，出库任务暂时不执行
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在换层任务，出库任务等待中", wrkMast.getWrkNo());
                return false;
            }

            boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo());
            if(!checkLocPathIsAvailable) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo());
@@ -676,6 +693,29 @@
                return false;
            }

            //检测楼层是否有可用穿梭车
            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
            if (!checkLevHasShuttle) {
                if (wrkMast.getShuttleNo() != null) {
                    return false;
                }

                //获取小车待机位
                String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
                if (standbyLocNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
                    return false;
                }

                //调度小车去待机位
                boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
                if (!dispatchShuttle) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
                    return false;
                }
                return false;
            }

            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //未分配提升机
@@ -711,29 +751,6 @@
            //判断提升机是否处于入库模式
            if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
                return false;
            }

            //检测楼层是否有可用穿梭车
            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
            if (!checkLevHasShuttle) {
                if (wrkMast.getShuttleNo() != null) {
                    return false;
                }

                //获取小车待机位
                String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
                if (standbyLocNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
                    return false;
                }

                //调度小车去待机位
                boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
                if (!dispatchShuttle) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
                    return false;
                }
                return false;
            }

@@ -1343,7 +1360,7 @@
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
            assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_ON.id);//充电开
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
@@ -1384,7 +1401,7 @@
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
            assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_OFF.id);//充电关
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
@@ -1561,6 +1578,15 @@
                return false;
            }

            //小车已在近点位置无需前往
            if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
                wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 303.小车移动至近点完成
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
                return true;
            }

            //获取小车到近点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
@@ -1644,6 +1670,22 @@
                return false;
            }

            List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("io_type", 101)
                    .in("wrk_sts"
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
                            , WrkStsType.OUTBOUND_LIFT_RUN.sts
                            , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
                    )
            );
            for (WrkMast outWrkMast : outWrkMastList) {
                if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在正在执行的小车出库任务，禁止移动至站点", wrkMast.getWrkNo());
                    return false;
                }
            }

            if (wrkMast.getLiftNo() == null) {
                //申请提升机资源(该任务需要换层必须提前独占提升机)
                boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());