| | |
| | | if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) { |
| | | //302.小车移动至站点 ==> 303.小车移动至站点完成 |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts); |
| | | shuttleThread.setSyncTaskNo(0); |
| | | } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) { |
| | | //308.小车迁出提升机中 ==> 309.小车迁出提升机完成 |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts); |
| | | shuttleThread.setSyncTaskNo(0); |
| | | } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) { |
| | | //310.小车移动中 ==> 311.小车移动完成 |
| | | wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts); |
| | |
| | | //204.小车充电中 ==> 205.小车充电完成 |
| | | wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts); |
| | | shuttleThread.setSyncTaskNo(0); |
| | | }else { |
| | | continue; |
| | | } |
| | | // switch (wrkMast.getWrkSts().intValue()) { |
| | | //// case 5://5.小车搬运中 ==> 9.入库完成 |
| | |
| | | // break; |
| | | case 306://306.提升机搬运中 ==> 307.提升机搬运完成 |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts); |
| | | //货叉提升机需要跳过迁出提升机流程 |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts); |
| | | forkLiftThread.setSyncTaskNo(0); |
| | | break; |
| | | default: |
| | | } |
| | |
| | | continue; |
| | | } |
| | | |
| | | boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标 |
| | | if (!updateShuttleLocation) { |
| | | continue; |
| | | } |
| | | |
| | | boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中 |
| | | if (!stepMoveLoc) { |
| | | continue; |
| | |
| | | return false;//当前提升机存在未完成任务,等待下一次轮询 |
| | | } |
| | | |
| | | //*************尝试锁定目标站路径*************** |
| | | List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); |
| | | if (targetNodes == null) { |
| | | return false;//未获取到节点 |
| | | } |
| | | boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo())); |
| | | if (!checkPathIsAvailable) { |
| | | News.info("{}任务,{}小车,目标站点路径被占用,禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | return false;//检测目标站点路径是否未被占用 |
| | | } |
| | | //尝试锁定目标站路径 |
| | | boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用 |
| | | if (!result2) { |
| | | News.info("{}任务,{}小车,路径锁定失败,禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | return false;//路径锁定失败 |
| | | } |
| | | //*************尝试锁定目标站路径*************** |
| | | |
| | | 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 |
| | |
| | | List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); |
| | | if (commands == null) { |
| | | News.taskInfo(wrkMast.getWrkNo(), "{}任务,{}小车,路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | |
| | | //所使用的路径进行锁定禁用 |
| | | navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false); |
| | | return false;//路径解锁失败 |
| | | } |
| | | |
| | | assignCommand.setCommands(commands); |
| | | |
| | | // //*************尝试锁定目标站路径*************** |
| | | // List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); |
| | | // if (targetNodes == null) { |
| | | // return false;//未获取到节点 |
| | | // } |
| | | // boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo())); |
| | | // if (!checkPathIsAvailable) { |
| | | // News.info("{}任务,{}小车,目标站点路径被占用,禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | // return false;//检测目标站点路径是否未被占用 |
| | | // } |
| | | // //尝试锁定目标站路径 |
| | | // boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用 |
| | | // if (!result2) { |
| | | // News.info("{}任务,{}小车,路径锁定失败,禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | // return false;//路径锁定失败 |
| | | // } |
| | | // //*************尝试锁定目标站路径*************** |
| | | |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点 |
| | | wrkMast.setModiTime(now); |
| | |
| | | return false;//缺少站点信息 |
| | | } |
| | | |
| | | if (liftSta.getHasTray()) { |
| | | News.taskInfo(wrkMast.getWrkNo(), "{}任务,目标站存在托盘,禁止派发", wrkMast.getWrkNo()); |
| | | return false;//有托盘跳过 |
| | | } |
| | | |
| | | //获取提升机命令 |
| | | List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); |
| | |
| | | if (wrkMastService.updateById(wrkMast)) { |
| | | //下发任务 |
| | | forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); |
| | | } |
| | | } |
| | | return true; |
| | | } |
| | | |
| | | /** |
| | | * 小车迁移-提升机搬运完成更新小车坐标 |
| | | * 如需主方法执行continue,请返回false |
| | | * ps:返回值true并不代表该方法执行成功,返回值仅做标记用于主方法是否执行continue |
| | | */ |
| | | private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) { |
| | | //--------------------------------------提升机搬运中-----------------------------------------// |
| | | Date now = new Date(); |
| | | |
| | | //提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中 |
| | | if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) { |
| | | //获取四向穿梭车线程 |
| | | ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); |
| | | if (shuttleThread == null) { |
| | | return false; |
| | | } |
| | | ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); |
| | | if (shuttleProtocol == null) { |
| | | 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,禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); |
| | | return false; |
| | | } |
| | | |
| | | 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); |
| | | |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中 |
| | | wrkMast.setSystemMsg("");//清空消息 |
| | | wrkMast.setModiTime(now); |
| | | |
| | | if (wrkMastService.updateById(wrkMast)) { |
| | | //下发任务 |
| | | shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); |
| | | } |
| | | } |
| | | return true; |
| | |
| | | List<ShuttleCommand> commands = null; |
| | | //跨楼层移动任务 |
| | | if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { |
| | | // //需要将前两个节点作为白名单节点传入 |
| | | // //获取目标站 |
| | | // LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); |
| | | // if (liftSta == null) { |
| | | // return false;//找不到站点 |
| | | // } |
| | | // |
| | | // List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); |
| | | // if (targetNodes == null) { |
| | | // return false;//未获取到节点 |
| | | // } |
| | | // |
| | | // //设置计算节点的白名单 |
| | | // ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单 |
| | | // for (NavigateNode node : targetNodes) { |
| | | // whiteList.add(new int[]{node.getX(), node.getY()}); |
| | | // } |
| | | // commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList); |
| | | //需要将前两个节点作为白名单节点传入 |
| | | List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); |
| | | if (targetNodes == null) { |
| | | return false;//未获取到节点 |
| | | } |
| | | |
| | | //设置计算节点的白名单 |
| | | ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单 |
| | | for (NavigateNode node : targetNodes) { |
| | | whiteList.add(new int[]{node.getX(), node.getY()}); |
| | | } |
| | | commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread); |
| | | }else { |
| | | //获取小车到目标库位命令 |
| | | commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); |
| | |
| | | } |
| | | |
| | | assignCommand.setCommands(commands); |
| | | |
| | | // if (wrkMast.getLiftNo() != null) { |
| | | // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo()); |
| | | // if (liftThread == null) { |
| | | // return false; |
| | | // } |
| | | // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); |
| | | // if (liftProtocol == null) { |
| | | // return false; |
| | | // } |
| | | // if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) { |
| | | // liftProtocol.setToken(0);//释放提升机令牌 |
| | | // } |
| | | // } |
| | | |
| | | wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 |
| | | wrkMast.setLiftNo(null);//释放提升机 |
| | |
| | | |
| | | //解析json地图数据 |
| | | ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class); |
| | | List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据 |
| | | //重建数据格式 |
| | | List<List<MapNode>> lists = rebuildData(arrayList); |
| | | |
| | | if (!file.delete()) { |
| | | System.out.println("临时文件删除失败"); |
| | |
| | | * @param shuttlePoints 穿梭车节点,需要加载进地图 |
| | | */ |
| | | public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) { |
| | | //重建数据格式 |
| | | List<List<MapNode>> lists = rebuildData(arrayList); |
| | | |
| | | //载入库位信息 |
| | | lists = loadLocMast(mapType, lists, lev, whitePoints); |
| | | |
| | | //加载车辆 |
| | | lists = loadShuttle(lists, shuttlePoints); |
| | | |
| | | //加载货叉提升机点位 |
| | | lists = loadForkLift(lists, mapType, lev); |
| | | |
| | | //加载白名单节点 |
| | | lists = loadWhite(lists, lev, whitePoints); |
| | | |
| | | return lists; |
| | | } |
| | | |
| | | //重建数据格式 |
| | | public List<List<MapNode>> rebuildData(List arrayList) { |
| | | List<List<MapNode>> lists = new ArrayList<>(); |
| | | |
| | | //重建数据格式 |
| | |
| | | lists.add(list); |
| | | } |
| | | |
| | | return lists; |
| | | } |
| | | |
| | | //载入库位信息 |
| | | public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) { |
| | | //过滤数据 |
| | | LocMastService locMastService = SpringUtils.getBean(LocMastService.class); |
| | | try { |
| | |
| | | e.printStackTrace(); |
| | | } |
| | | |
| | | return lists; |
| | | } |
| | | |
| | | //加载车辆 |
| | | public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) { |
| | | //加载车辆坐标到地图中 |
| | | if (shuttlePoints != null) { |
| | | for (int[] points : shuttlePoints) { |
| | |
| | | } |
| | | } |
| | | |
| | | return lists; |
| | | } |
| | | |
| | | //加载白名单节点 |
| | | public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) { |
| | | //加载白名单节点 |
| | | if (whitePoints != null) { |
| | | List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//获取完整地图 |
| | |
| | | lists.set(x, list); |
| | | } |
| | | } |
| | | return lists; |
| | | } |
| | | |
| | | //加载货叉提升机点位 |
| | | public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) { |
| | | try { |
| | | //加载货叉提升机放货点位数据 |
| | | for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { |
| | |
| | | } |
| | | |
| | | for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) { |
| | | if (staProtocol.getLev() != lev) { |
| | | continue; |
| | | } |
| | | int row = Utils.getRow(staProtocol.getLocNo()); |
| | | int bay = Utils.getBay(staProtocol.getLocNo()); |
| | | |
| | |
| | | if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) { |
| | | mapNode.setValue(MapNodeType.DISABLE.id); |
| | | } |
| | | }else { |
| | | } else { |
| | | if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) { |
| | | mapNode.setValue(MapNodeType.CAR.id); |
| | | } |
| | |
| | | } |
| | | |
| | | } |
| | | }catch (Exception e) { |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | | } |
| | | |
| | | return lists; |
| | | } |
| | | |
| | |
| | | import com.zy.core.News; |
| | | import com.zy.core.enums.MapNodeType; |
| | | import com.zy.core.model.PythonSimilarityResult; |
| | | import org.springframework.beans.factory.annotation.Autowired; |
| | | import org.springframework.beans.factory.annotation.Value; |
| | | import org.springframework.stereotype.Component; |
| | | |
| | |
| | | |
| | | @Value("${pythonCalcPath}") |
| | | private String pythonCalcPath; |
| | | |
| | | @Value("${pythonCalcSimilarity}") |
| | | private String pythonCalcSimilarity; |
| | | @Autowired |
| | | private NavigateMapData navigateMapData; |
| | | |
| | | public List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) { |
| | | return calcJava(startPoint, endPoint, mapType, shuttlePoints, whites); |
| | |
| | | * 检测路径是否可用(可走) |
| | | */ |
| | | public boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) { |
| | | NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//获取无白名单地图(该地图包含小车坐标) |
| | | int[][] map = solution.map; |
| | | int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, Utils.getShuttlePoints(shuttleNo, lev)); |
| | | for (NavigateNode node : path) { |
| | | int value = map[node.getX()][node.getY()]; |
| | | if (value != MapNodeType.NORMAL_PATH.id && value != MapNodeType.MAIN_PATH.id && value != MapNodeType.CHARGE.id && value != MapNodeType.CONVEYOR_CAR_GO.id) {//母轨道3、子轨道0、充电桩5、小车可走输送站 |
| | |
| | | Integer shuttleNo = shuttleProtocol.getShuttleNo(); |
| | | //获取小车移动速度 |
| | | Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000); |
| | | List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null); |
| | | List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites); |
| | | if (nodeList == null) { |
| | | News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo); |
| | | shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo); |
| | |
| | | } |
| | | |
| | | List<NavigateNode> allNode = new ArrayList<>(); |
| | | List<NavigateNode> lockNode = new ArrayList<>(); |
| | | for (NavigateNode node : nodeList) { |
| | | allNode.add(node.clone()); |
| | | |
| | | if (whites != null) { |
| | | boolean flag = false; |
| | | for (int[] white : whites) { |
| | | if(white[0] == node.getX() && white[1] == node.getY()) { |
| | | flag = true; |
| | | break; |
| | | } |
| | | } |
| | | |
| | | if (flag) {//白名单跳过锁定 |
| | | continue; |
| | | } |
| | | } |
| | | lockNode.add(node.clone()); |
| | | } |
| | | |
| | | List<ShuttleCommand> commands = new ArrayList<>(); |
| | |
| | | |
| | | assignCommand.setNodes(allNode);//当前任务所占用的节点list |
| | | |
| | | boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, allNode, true);//锁定路径 |
| | | boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//锁定路径 |
| | | if (!result) { |
| | | News.error("{} dash {} can't lock path!", startLocNo, endLocNo); |
| | | shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo); |
| | |
| | | import com.zy.core.model.command.ShuttleRedisCommand; |
| | | import com.zy.core.model.protocol.ShuttleProtocol; |
| | | import com.zy.core.thread.ShuttleThread; |
| | | import com.zy.system.entity.Config; |
| | | import com.zy.system.service.ConfigService; |
| | | import org.springframework.beans.factory.annotation.Autowired; |
| | | import org.springframework.stereotype.Component; |
| | |
| | | return; |
| | | } |
| | | |
| | | String currentLocNo = shuttleProtocol.getCurrentLocNo(); |
| | | int lev = Utils.getLev(currentLocNo); |
| | | boolean demoSwitchLev = false; |
| | | Config demoSwitchLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoSwitchLev")); |
| | | if (demoSwitchLevConfig != null) { |
| | | if (demoSwitchLevConfig.getValue().equals("Y")) { |
| | | demoSwitchLev = true; |
| | | } |
| | | } |
| | | |
| | | Config demoRunLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoRunLev")); |
| | | if (demoRunLevConfig == null) { |
| | | return; |
| | | } |
| | | List<Integer> levList = JSON.parseArray(demoRunLevConfig.getValue(), Integer.class); |
| | | |
| | | if (!demoSwitchLev) { |
| | | String currentLocNo = shuttleProtocol.getCurrentLocNo(); |
| | | levList = new ArrayList<>(); |
| | | levList.add(Utils.getLev(currentLocNo)); |
| | | } |
| | | |
| | | LocMast targetLoc = null; |
| | | EntityWrapper<LocMast> wrapper = new EntityWrapper<>(); |
| | | wrapper.eq("lev1", lev); |
| | | wrapper.in("lev1", levList); |
| | | wrapper.eq("loc_sts", "O"); |
| | | wrapper.last("ORDER BY RAND() LIMIT 1"); |
| | | for (int i = 0; i < 3; i++) { |
| | |
| | | return false;//没有可用且空闲的输送站点 |
| | | } |
| | | sourceStaNo = liftSta.getStaNo();//源站点 |
| | | //提升机号*100+目标楼层=目标站点 |
| | | staNo = liftSta.getLiftNo() * 100 + Utils.getLev(locNo);//目标站 |
| | | |
| | | ForkLiftStaProtocol targetLiftSta = ForkLiftUtils.getLiftStaByLev(liftSta.getLiftNo(), Utils.getLev(locNo)); |
| | | if (targetLiftSta == null) { |
| | | News.info("{}号小车,{}目标库位,没有目标站点", shuttleNo, locNo); |
| | | return false;//没有找到目标站点 |
| | | } |
| | | //目标站点 |
| | | staNo = targetLiftSta.getStaNo();//目标站 |
| | | } |
| | | |
| | | // 获取工作号 |
| | |
| | | SHUTTLE_CANCEL_CONTROL(11, "小车取消管制"), |
| | | SHUTTLE_DEMO_OPEN(12, "演示模式-开"), |
| | | SHUTTLE_DEMO_CLOSE(13, "演示模式-关"), |
| | | UPDATE_LOCATION(14, "更新坐标"), |
| | | ; |
| | | |
| | | public Integer id; |
| | |
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| | |
| | | |
| | | <select id="selectChargeWorkingByChargeSta" resultMap="BaseResultMap"> |
| | | select * from asr_wrk_mast |
| | | where wrk_sts in (201,202,203) |
| | | where wrk_sts in (201,202,203,204,205,210) |
| | | and mk = #{chargeSta} |
| | | order by io_pri desc,io_time,wrk_no asc |
| | | </select> |