| | |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (!liftThread.isIdle()) { |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (motionService.count(new LambdaQueryWrapper<Motion>() |
|---|
| | | .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val()) |
|---|
| | | .eq(Motion::getDevice, inSta.getLiftNo()) |
|---|
| | | .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) { |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | //检测提升机是否有任务绑定 |
|---|
| | | boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(workNo)); |
|---|
| | | if (liftResult) { |
|---|
| | | //存在任务，禁止执行 |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | //每次执行提升机指令都绑定提升机 |
|---|
| | | task.setLiftNo(liftProtocol.getLiftNo()); |
|---|
| | | task.setUpdateTime(new Date()); |
|---|
| | | if (!taskService.updateById(task)) { |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | List<LiftCommand> command = liftThread.getPalletInOutCommand(workNo, 1, lev, inSta.getDeviceStaNo(), targetSite, LiftCommandModeType.PALLET_INOUT); |
|---|
| | | |
|---|
| | | LiftAssignCommand assignCommand = new LiftAssignCommand(); |
|---|
| | |
|---|
| | | ) { |
|---|
| | | |
|---|
| | | Task task = taskService.getOne(new LambdaQueryWrapper<Task>() |
|---|
| | | .eq(Task::getDestSite, inSta.getDeviceStaNo()) |
|---|
| | | .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts) |
|---|
| | | .eq(Task::getTaskNo, workNo)); |
|---|
| | | if (task != null) { |
|---|
| | | if (!Cools.isEmpty(task.getLiftNo())) { |
|---|
| | | if (task.getLiftNo() > 0) { |
|---|
| | | task.setLiftNo(0); |
|---|
| | | task.setUpdateTime(new Date()); |
|---|
| | | if (!taskService.updateById(task)) { |
|---|
| | | News.info("{}任务更新释放提升机失败", task.getTaskNo()); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (Cools.isEmpty(task.getShuttleNo())) { |
|---|
| | | //分配小车 |
|---|
| | | //搜索空闲车 |
|---|
