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luxiaotao1123

2022-03-09 1d9a9498031967b948d6e7c14fc910c28363ac12

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

@@ -616,7 +616,7 @@
            }


            this.carMoveIn(wrkMast);
//            this.carMoveIn(wrkMast);


            // 已经存在吊车执行任务时，则过滤
@@ -682,20 +682,44 @@
    /**
     * 入库  ===>>  堆垛机搬入小车
     */
    public void carMoveIn(WrkMast wrkMast) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
    public void carMoveIn(WrkMast wrkMast, Integer steNo) {
        // 获取堆垛机信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

            String locNo = Utils.append(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
            LocMast locMast = locMastService.selectById(locNo);

            // 堆垛机命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(locMast.getCrnNo()); // 堆垛机编号
            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(steProtocol.getRow());     // 源库位排
            crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
            crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().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 {

                // 修改工作档状态 2.设备上走 => 4.迁入小车
                Date now = new Date();
                wrkMast.setWrkSts(4L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }


        }

    }

    /**

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -225,6 +225,14 @@
    }

    /**
     * 通过排列层拼接出库位号
     */
    public static String append(int row, int bay, int lev) {
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }


    /**
     * 当检索到双深库位的浅库位时，如果深库位无货，则放入对应的深库位
     */
    public static void toDeepIfEmptyByShallow(String shallowLoc) {