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luxiaotao1123

2022-03-10 5a8efb144853cf4221d2e0396b2315f108b7212d

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

@@ -661,6 +661,8 @@
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveIn(wrkMast, wrkMast.getSteNo());
                    }
                    // 4.堆垛机搬运货物

                }

            }
@@ -712,7 +714,7 @@
            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.小车待搬
                // 修改工作档状态 绑定穿梭车
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
@@ -732,37 +734,39 @@
        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);
            LocMast locMast;
            if (wrkMast.getWrkSts() <= 10) {
                locMast = locMastService.selectById(wrkMast.getLocNo());
                // 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(Utils.getGroupRow(locMast.getLocNo()).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 {

            // 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 3.小车待搬 => 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 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                    // 修改工作档状态 3.小车待搬 => 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 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }

            }

        }

        }
    }

    /**
@@ -1086,6 +1090,23 @@
                            }
                        }
                    }
                // 迁入小车 完成
                } else if (wrkMast.getWrkSts() == 4) {
                    // 4.迁入小车 ==> 6.小车待入
                    wrkMast.setWrkSts(6L);
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    } else {
                        log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                // 迁出小车 完成
                } else if (wrkMast.getWrkSts() == 5) {

                }
            }
        }