#

luxiaotao1123

2022-09-15 75237ef2431663b32430604ab198efedf70f389f

#

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

@@ -1077,6 +1077,18 @@
                        if (!steThread.confirmPos()) {
                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                        }
                        // 穿梭车去待机位
                        BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
                        steCommand.setTaskNo(9999); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式:  去近点 等待堆垛机叉取
//                        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
                        if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
                            log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                        }
                    } else {
                        log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
@@ -1324,7 +1336,7 @@
                }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 ||  (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999) || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

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

@@ -60,11 +60,11 @@
            case 3:
            case 11:
            case 18:
                return SteTaskModeType.IN_RIGHT;   // 右
                return SteTaskModeType.IN_LEFT;   // 右
            case 4:
            case 12:
            case 19:
                return SteTaskModeType.IN_LEFT;    // 左
                return SteTaskModeType.IN_RIGHT;    // 左
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
@@ -75,11 +75,11 @@
            case 3:
            case 11:
            case 18:
                return SteTaskModeType.OUT_RIGHT;   // 右
                return SteTaskModeType.OUT_LEFT;   // 右
            case 4:
            case 12:
            case 19:
                return SteTaskModeType.OUT_LEFT;    // 左
                return SteTaskModeType.OUT_RIGHT;    // 左
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
@@ -131,7 +131,7 @@
            case 16:
            case 17:
            case 18:
                return SteTaskModeType.IN_RIGHT;
                return SteTaskModeType.IN_LEFT;
            case 4:
            case 5:
            case 6:
@@ -142,7 +142,7 @@
            case 19:
            case 20:
            case 21:
                return SteTaskModeType.IN_LEFT;
                return SteTaskModeType.IN_RIGHT;
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }
@@ -161,7 +161,7 @@
            case 16:
            case 17:
            case 18:
                return SteTaskModeType.OUT_RIGHT;
                return SteTaskModeType.OUT_LEFT;
            case 4:
            case 5:
            case 6:
@@ -172,7 +172,7 @@
            case 19:
            case 20:
            case 21:
                return SteTaskModeType.OUT_LEFT;
                return SteTaskModeType.OUT_RIGHT;
            default:
                throw new CoolException("解析穿梭车原点定位失败");
        }