1

zhangc

2025-04-11 8a5960fd42a0980888d0578121ef9214c02653c9

1

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

@@ -786,11 +786,13 @@
                            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
                        }
//                        else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
//                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
//                            shuttleThread.setSyncTaskNo(0);
//                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
//                        }
                        else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
@@ -831,6 +833,7 @@
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
                        }



                        else {
@@ -1058,6 +1061,12 @@
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
                            //提升机至小车层 ==> 提升机至小车层完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
                        }else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
                            //提升机至小车层 ==> 提升机至小车层完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
                        }else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
                            //提升机至小车层 ==> 提升机至小车层完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
                        }

                        wrkMast.setModiTime(new Date());

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

@@ -24,6 +24,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -127,7 +129,22 @@
            if (shuttleProtocol == null) {
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading()) {
                log.info("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                return false;
            }
            //TODO
//            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
//                            log.info( "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                return false;
//            }
            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
@@ -169,7 +186,7 @@
        Date now = new Date();

        //小车移动至站点  301.生成小车移库任务 ==> 302.小车移动至站点中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_2.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -185,7 +202,9 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                return false;
            }

            //获取穿梭车最近且空闲的提升机
            LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
@@ -212,15 +231,14 @@
            List<ShuttleCommand> commands = new ArrayList<>();
            Integer mapType = NavigationMapType.NORMAL.id;

            if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
                //获取小车到提升机待机位行走命令
                List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
                if (moveCommands == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;//路径解锁失败
                }
                commands.addAll(moveCommands);

            //获取小车到提升机待机位行走命令
            List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
            if (moveCommands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
            }
            commands.addAll(moveCommands);

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
@@ -332,11 +350,7 @@
                return false;//提升机内无小车
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机内无小车
            }


            //判断提升机楼层
            if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
@@ -449,11 +463,7 @@
                return false;//提升机内无小车
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机内无小车
            }


            //判断提升机楼层
            if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
@@ -811,8 +821,24 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }
            //TODO
//            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
//                log.error("{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                return false;
//            }

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())){
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                return false;
            }


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

@@ -23,6 +23,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -65,7 +67,7 @@
     */
    public void shuttleMoveExecute(WrkMast wrkMast) {
        //判断目标库位是否在1层或5层
        if (Utils.getLev(wrkMast.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
        if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
@@ -136,9 +138,28 @@
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
            //TODO
//            if (!staProtocol2.isOutEnable()) {
//                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                return false;
//            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_2.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -650,6 +671,25 @@
                return false;//提升机内无小车
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
                assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
                assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
                assignCommand.setAuto(true);//自动模式
                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
                assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

                //更新小车坐标
                ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
                ArrayList<ShuttleCommand> commands = new ArrayList<>();
                commands.add(command);

                assignCommand.setCommands(commands);
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
@@ -702,6 +742,26 @@
            if (shuttleProtocol == null) {
                return false;
            }

//            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
//                assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
//                assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
//                assignCommand.setAuto(true);//自动模式
//                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
//                assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
//
//                //更新小车坐标
//                ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
//                ArrayList<ShuttleCommand> commands = new ArrayList<>();
//                commands.add(command);
//
//                assignCommand.setCommands(commands);
//                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                return false;
//            }


            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
@@ -773,6 +833,24 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
            //TODO
//            if (!staProtocol2.isOutEnable()) {
//                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
//                return false;
//            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
@@ -826,6 +904,10 @@
                return false;
            }

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务

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

@@ -66,7 +66,7 @@

    //无提升机入库
    MOVE_IN_NO_LIFT_1(371, "呼叫小车移动至输送线"),
    MOVE_IN_NO_LIFT_2(372, "小车移动至输送线完成"),
    //MOVE_IN_NO_LIFT_2(372, "小车移动至输送线完成"),
    MOVE_IN_NO_LIFT_3(373, "小车移动至待机点"),
    MOVE_IN_NO_LIFT_4(374, "小车移动至待机点完成"),
    MOVE_IN_NO_LIFT_5(375, "提升机至小车层"),