初步调试

zc

3 天以前 a3cd273234d56c5a36bd0a793a67e533a2141d6d

初步调试

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

@@ -245,49 +245,6 @@
        }
        List<LedCommand> commands = new ArrayList<>();

        // 组装命令
        LedCommand ledCommand = new LedCommand();
        ledCommand.setWorkNo(wrkMast.getWmsWrkNo());
        ledCommand.setIoType(wrkMast.getIoType());
        // 出库模式
        switch (wrkMast.getIoType()) {
            case 1:
                ledCommand.setTitle("全板入库");
                break;
            case 10:
                ledCommand.setTitle("空板入库");
                break;
            case 101:
                ledCommand.setTitle("全板出库");
                break;
            case 103:
                ledCommand.setTitle("拣料出库");
                break;
            case 104:
                ledCommand.setTitle("并板出库");
                break;
            case 107:
                ledCommand.setTitle("盘点出库");
                break;
            case 110:
                ledCommand.setTitle("空板出库");
                ledCommand.setEmptyMk(true);
                break;
            case 53:
                ledCommand.setTitle("拣料入库");
                break;
            case 57:
                ledCommand.setTitle("盘点入库");
                break;
            case 54:
                ledCommand.setTitle("并板入库");
                break;
            default:
                break;
        }
        ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
        ledCommand.setLocNo(wrkMast.getLocNo());
        ledCommand.setStaNo(wrkMast.getStaNo());
        if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
            Map<String, Object> param = new HashMap<>();
            param.put("taskNo", wrkMast.getWmsWrkNo());
@@ -381,6 +338,9 @@
                continue;
            }
            HashMap<String, Object> map = new HashMap<>();
            if (Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                continue;
            }
            int i = Integer.parseInt(shuttleProtocol.getErrorCode());
            if (i > 0) {
                BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(i);

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

@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
@@ -216,6 +217,9 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        if (Cools.isEmpty(barcode) || "?".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                            continue;
                        }
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
                        if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
@@ -915,6 +919,10 @@
                    ledThread.error(errMsg);
                }
            }
            String barcode = staProtocol.getBarcode();
            if (Cools.isEmpty(barcode) || "?".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                return false;
            }
            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;

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

@@ -489,7 +489,7 @@
            assignCommand.setAuto(true);//自动模式

            //获取小车到提升机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.DFX.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
@@ -861,7 +861,7 @@
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            List<ShuttleCommand> commands = new ArrayList<>();
            Integer mapType = NavigationMapType.NORMAL.id;
            Integer mapType = NavigationMapType.DFX.id;

            List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
            if (moveCommands == null) {

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

@@ -465,7 +465,7 @@
            assignCommand.setAuto(true);//自动模式

            //获取小车到提升机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.DFX.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;

 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java

@@ -30,6 +30,7 @@
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.rmi.CORBA.Util;
import java.util.*;

/**
@@ -251,7 +252,7 @@
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
                    wrkMastService.updateById(wrkMast1);
                    sameLev.add(0,shuttleThread);
                    sameLev.add(0, shuttleThread);
                    //return true;
                }
                break;
@@ -364,7 +365,8 @@
     */
    public boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        int lev1 = 0;
        boolean tongLev = false;
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -388,6 +390,13 @@
                }
            }
            diffLev.add(shuttleThread);
            if (lev1 != 0) {
                if (lev1 == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                    tongLev = true;
                }
            } else {
                lev1 = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            }
        }

        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
@@ -422,18 +431,27 @@
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);

                    if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
                        //车辆当前位置已经是目标库位，调度该车
                        //给工作档绑定小车号
                        diffShuttles.put(-1, shuttleThread);
                    } else {
                        //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                        int currentValue = Math.abs(lev - currentLev);
                        if (diffShuttles.get(currentValue) != null) {
                            diffShuttles.put(currentValue + 1, shuttleThread);
                        if (tongLev) {
                            //当前穿梭车线程到目标地点距离
                            List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                            if (currentShuttlePath == null) {
                                continue;
                            }
                            Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                            diffShuttles.put(currentAllDistance, shuttleThread);
                        } else {
                            diffShuttles.put(currentValue, shuttleThread);
                            //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                            int currentValue = Math.abs(lev - currentLev);
                            if (diffShuttles.get(currentValue) != null) {
                                diffShuttles.put(currentValue + 1, shuttleThread);
                            } else {
                                diffShuttles.put(currentValue, shuttleThread);
                            }
                        }
                    }
                }

 src/main/resources/sql/20250419211417.nb3

Binary files differ

 src/main/resources/sql/20250425082153.nb3

Binary files differ