#

Junjie

2023-09-30 2ae707e80fb908e6e6af373e4724645f747a2e23

#

 src/main/java/com/zy/asrs/controller/RobotController.java

@@ -48,6 +48,13 @@
            staProtocol = staProtocol.clone();
            staProtocol.setStaNo((short) 344);//空托盘出库站
            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

            //更新工作档 => 29.出库完成
            WrkMast wrkMast = wrkMastMapper.selectByWorkNo(Integer.valueOf(taskId));
            if (wrkMast != null && wrkMast.getWrkSts() == 25) {
                wrkMast.setWrkSts(29L);
                wrkMastMapper.updateById(wrkMast);
            }
        }

        System.out.println(param);

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

@@ -1202,7 +1202,7 @@
            }

            //调度小车避让
            boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getLocNo()), wrkMast.getShuttleNo(), shuttleThread);
            boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
            if (!result) {
                return false;
            }
@@ -1318,6 +1318,12 @@
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }

                            if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
                                //不需要用到机械臂，直接转29.出库完成
                                wrkMast.setWrkSts(29L);
                            }

                            break;
                        case 106://106.提升机搬运中 ==> 107.提升机搬运完成
                            wrkMast.setWrkSts(107L);

 src/main/resources/mapper/WrkMastMapper.xml

@@ -213,7 +213,7 @@
        select top 1 * from dbo.asr_wrk_mast
        where 1=1
        and shuttle_no = #{shuttleNo}
        and wrk_sts not in (9,10,29,30)
        and wrk_sts not in (9,10,23,29,30)
        and io_type not in (200)
        order by io_pri desc,io_time,wrk_no asc
    </select>