#

Junjie

2023-10-30 0aa00e19262d9f23fe4eb0e15451a1d8d694bf44

#

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

@@ -2033,10 +2033,10 @@
    }

    /**
     * AGV补货 => 机械臂拣料
     * AGV补货 => 生成入库通知档
     */
    public void agvRestockByRobot() {
        //检测300站是否自动、有物、工作号
    public void robotGenerateAgvTask() {
//检测300站是否自动、有物、工作号
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 获取入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -2066,7 +2066,7 @@
                    } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
                        //自动、无物
                        targetSta = (short) 317;
                    }else {
                    } else {
                        continue;//没有空闲站点
                    }

@@ -2125,7 +2125,17 @@
                    }
                }
            }
        }
    }

    /**
     * AGV补货 => 机械臂拣料
     */
    public void agvRestockByRobot() {
        //检测300站是否自动、有物、工作号
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 获取入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocol303 = devpThread.getStation().get(303);
            StaProtocol staProtocol317 = devpThread.getStation().get(317);
            if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {

 src/main/java/com/zy/core/MainProcess.java

@@ -70,6 +70,8 @@
                    mainService.recErr();
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt();
                    // AGV补货 => 生成入库通知档
                    mainService.robotGenerateAgvTask();
                    // AGV补货(机械臂拣料)
                    mainService.agvRestockByRobot();
                    // AGV补货(通知AGV取货)