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luxiaotao1123

2022-10-26 1222c3c5ef13f244e8dff1fb1a14457b77140d6b

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

@@ -1078,7 +1078,7 @@
                            }
                            return true;
                        }
                        // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                    // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                    } else {
                        // 当前组库位是否有穿梭车
                        Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
@@ -1098,7 +1098,7 @@
                                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                    steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  去近点 等待堆垛机叉取

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

@@ -1129,7 +1129,7 @@
                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).shortValue());     // 源库位排
                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
@@ -1150,7 +1150,7 @@
                                }
                            }

                            // 没有小车
                        // 没有小车
                        } else {
                            if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                                // 寻找最近的小车
@@ -1383,7 +1383,7 @@
            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

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

@@ -1455,17 +1455,17 @@
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
                        // 修改工作档状态 3.小车待搬 => 4.迁入小车
                        Date now = new Date();
                        wrkMast.setWrkSts(4L);
@@ -1484,17 +1484,17 @@
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
                        // 修改工作档状态 12.小车待搬 => 13.迁入小车
                        Date now = new Date();
                        wrkMast.setWrkSts(13L);
@@ -1536,17 +1536,17 @@
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue());     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo, true).shortValue());     // 目标库位排
                crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo));     // 目标库位列
                crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo));     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
                    steThread.modifyPos(Utils.getGroupRow(idleLocNo, true), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
                    // 修改工作档状态 3.小车待搬 => 5.迁出小车
                    Date now = new Date();
                    wrkMast.setWrkSts(5L);

 src/main/java/com/zy/core/enums/SteTaskModeType.java

@@ -72,7 +72,7 @@
        switch (Utils.getGroupRow(locNo, false)) {
            case 2:
                return SteTaskModeType.OUT_RIGHT;   // 右
            case 18:
            case 30:
                return SteTaskModeType.OUT_LEFT;    // 左
            default:
                throw new CoolException("解析穿梭车原点定位失败");