1

zhangc

2025-04-12 be99dea0c47c9a86eae906b46d67e14081191ad8

1

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -139,6 +139,11 @@
     */
    @ApiModelProperty(value= "条码")
    private String barcode;
    /**
     *
     */
    @ApiModelProperty(value= "")
    private Integer mainWrkNo;

    /**
     * 四向穿梭车号

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

@@ -1,7 +1,6 @@
package com.zy.asrs.service.impl;

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;
@@ -10,8 +9,6 @@
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
@@ -38,7 +35,6 @@

import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -92,6 +88,11 @@
    @Autowired
    private NoLiftOutServiceImpl noLiftOutService;


    public static List<Integer> staNosIn = new ArrayList<Integer>() {{
        add(1015);
        add(1026);
    }};

    private boolean isInEnable(DevpThread devpThread, Integer staNo) {
        if (staNo == null) {
@@ -216,32 +217,33 @@
                    continue;
                }
                // 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()
                ) {
                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)) {
                        News.info("条码扫描器检测条码信息：{}", barcode);
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("source_sta_no", inSta.getStaNo())
                            .eq("wrk_sts", WrkStsType.NEW_INBOUND)
                            .eq("barcode", barcode));
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND).eq("barcode", barcode));
                    if (wrkMast != null) {
                        News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                        if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                            MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                            //判断时提升机侧，还是无提升机测
                            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                                staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                                staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
                                MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                                News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                                wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                                wrkMast.setModiTime(new Date());
                                wrkMastService.updateById(wrkMast);
                            } else {

                            }
                        }
                        continue;
                    }

                    try {
                        String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        /*String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -256,10 +258,6 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));

                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

//                                String wmsLocNo = dto.getLocNo();
@@ -304,7 +302,7 @@
                                    .build()
                                    .doPost();
                            News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                        }
                        }*/
                    } catch (Exception e) {
                        e.printStackTrace();
                    }
@@ -315,6 +313,38 @@
        }
    }

    public synchronized void generateInboundWrk2() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(inSta);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            Short finishWorkNo = staProtocol.getFinishWorkNo();
            WrkMast wrkMast = wrkMastService.selectByWorkNo(Integer.valueOf(finishWorkNo));
            if (wrkMast != null) {
                if (wrkMast.getSourceStaNo() == 1015 || wrkMast.getSourceStaNo() == 1026) {

                    //调度车辆
//                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(null, staProtocol.getLocNo(), wrkMast.getLocNo(), param.getShuttleNo(), "TRANSPORT_DEVP");
//                    if (!dispatchShuttle) {
//                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                        return;
//                    }
                } else {
                    //判断提升机


                }
            }
        }

    }


    /**
     * 出库到出库口
@@ -322,62 +352,33 @@
    public synchronized void stnToOutStn() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
            // 获取堆垛机出库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
            StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                // 查询工作档
//                WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
//                if (wrkMast == null) {
//                    continue;
//                }
//                // 判断工作档条件
//                if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
//
//                }
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts));
                for (WrkMast wrkMast : wrkSts) {
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                        // 查询工作档
                        if (wrkMast == null) {
                            continue;
                        }
                        staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                        staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
                        MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                        News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                        wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                        wrkMast.setModiTime(new Date());
                        wrkMastService.updateById(wrkMast);

                //  判断输送线和小车状态状态等待确认
//                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
//                        && crnProtocol.statusType == CrnStatusType.WAITING
//                        && crnProtocol.forkPosType == CrnForkPosType.HOME) {
//                    log.info("堆垛机出库完成 - 开始执行");
//
//                    // 命令下发区 --------------------------------------------------------------------------
//
//                    // 下发站点信息
//                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
//                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
//                        log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发失败");
//                        continue;
//                    } else {
//                        log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发成功");
//                    }
//
//                    // 更新工作档状态为14失败
//                    wrkMast.setWrkSts(14L);
//                    wrkMast.setCrnEndTime(new Date());
//                    if (wrkMastMapper.updateById(wrkMast) != 0) {
//                        // 复位堆垛机
//                        log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
//                        crnThread.setResetFlag(true);
//                    } else {
//                        News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
//                    }
//
//                } else {
//                    News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
//                            + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
//                            + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
//                            + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
//                            + "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
//                }
                    }
                }
            } else {

            }
        }
@@ -421,10 +422,7 @@
     */
    public synchronized void shuttleInExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts"
                            , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
                    ));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
                if (!step1) {
@@ -534,10 +532,7 @@
     */
    public synchronized void shuttleOutExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts"
                            , WrkStsType.NEW_OUTBOUND.sts
                    ));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
                if (!step1) {
@@ -720,8 +715,7 @@

                //四向穿梭车状态为等待确认、小车处于空闲状态
                if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id  //任务完成等待确认
                        && shuttleProtocol.getTaskNo() != 0
                ) {
                        && shuttleProtocol.getTaskNo() != 0) {
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
                    if (wrkMast != null) {
@@ -808,35 +802,31 @@
                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.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_OUT_NO_LIFT_12.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.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_OUT_NO_LIFT_10.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.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_OUT_NO_LIFT_8.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.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_OUT_NO_LIFT_6.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.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_OUT_NO_LIFT_4.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.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_OUT_NO_LIFT_2.sts) {
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.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 {
                        } else {
                            continue;
                        }

@@ -1029,9 +1019,7 @@
                }

                //提升机为等待确认且空闲
                if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
                        && liftProtocol.getTaskNo() != 0
                ) {
                if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
                    if (wrkMast != null) {
@@ -1061,10 +1049,10 @@
                        } 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) {
                        } 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) {
                        } 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);
                        }
@@ -1126,8 +1114,7 @@
                        int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
                        BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
                        String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName();
                        BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
                                null,    // 编号
                        BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null,    // 编号
                                wrkMast.getWrkNo(),    // 工作号
                                now,    // 发生时间
                                null,    // 结束时间
@@ -1199,8 +1186,7 @@
                        BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
                        String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();

                        BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
                                null,    // 编号
                        BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null,    // 编号
                                wrkMast.getWrkNo(),    // 工作号
                                now,    // 发生时间
                                null,    // 结束时间

 src/main/java/com/zy/asrs/task/WrkMastScheduler.java

@@ -1,7 +1,6 @@
package com.zy.asrs.task;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.LocMast;
@@ -10,13 +9,9 @@
import com.zy.asrs.service.WrkMastLogService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.enums.LocStsType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
@@ -42,7 +37,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeIn(){
    public void executeIn() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.COMPLETE_INBOUND.sts));
        if (wrkMasts.isEmpty()) {
            return;
@@ -85,7 +80,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeOut(){
    public void executeOut() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.COMPLETE_OUTBOUND.sts));
        if (wrkMasts.isEmpty()) {
            return;
@@ -128,7 +123,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeLocMove(){
    public void executeLocMove() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.COMPLETE_LOC_MOVE.sts));
        if (wrkMasts.isEmpty()) {
            return;
@@ -148,7 +143,7 @@
                continue;
            }

            LocMast sourceLocMast= locMastService.queryByLoc(sourceLocNo);
            LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
            if (sourceLocMast == null) {
                log.info("[workNo={}]库位不存在", wrkMast.getWrkNo());
                continue;
@@ -191,7 +186,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeMove(){
    public void executeMove() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .in("wrk_sts"
                        , WrkStsType.COMPLETE_MOVE.sts
@@ -205,6 +200,18 @@
        }

        for (WrkMast wrkMast : wrkMasts) {
            WrkMast main = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (main != null) {
                if (main.getIoType() == WrkIoType.IN.id) {
                    main.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts);
                } else if (main.getIoType() == WrkIoType.OUT.id) {
                    main.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts);
                }
                main.setModiTime(new Date());
                if (wrkMastService.updateById(main)) {
                    log.info("更新主工作档[workNo={}]失败", wrkMast.getWrkNo());
                }
            }
            // 保存工作主档历史档
            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
                log.info("保存工作历史档[workNo={}]失败", wrkMast.getWrkNo());
@@ -218,7 +225,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeCharge(){
    public void executeCharge() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.COMPLETE_CHARGE.sts));
        if (wrkMasts.isEmpty()) {
            return;
@@ -241,7 +248,7 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    @Transactional
    public void executeCancelTask(){
    public void executeCancelTask() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("mk", "taskCancel"));
        if (wrkMasts.isEmpty()) {
            return;

 src/main/java/com/zy/core/MainProcess.java

@@ -43,9 +43,10 @@
                    //zhangc
                    //输送线
                    // 入库
                   // mainService.generateInboundWrk();
                    mainService.generateInboundWrk();
                    mainService.generateInboundWrk2();
                    // 出库
                  //  mainService.stnToOutStn();
                    mainService.stnToOutStn();

                    //初始化实时地图
                    mainService.initRealtimeBasMap();

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

@@ -14,21 +14,15 @@
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.ForkLiftUtils;
import com.zy.common.utils.LiftUtils;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.*;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -119,7 +113,7 @@
            if (currentLev == Utils.getLev(locNo)) {
                //工作档楼层相同的穿梭车
                sameLev.add(shuttleThread);
            }else {
            } else {
                //工作档不同楼层的穿梭车
                diffLev.add(shuttleThread);
            }
@@ -284,6 +278,7 @@
        wrkMast.setLocNo(locNo); // 目标库位
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        wrkMast.setMainWrkNo(mainWrkMast.getWrkNo());
        boolean res = wrkMastService.insert(wrkMast);
        if (!res) {
            News.error("小车迁移 --- 保存工作档失败！ 穿梭车号：" + shuttleNo);
@@ -314,7 +309,7 @@
        List<ShuttleGatherResult> list = new ArrayList<>();
        for (BasShuttle basShuttle : basShuttles) {
            String idleLoc = basShuttle.getIdleLoc();
            if(Cools.isEmpty(idleLoc)) {
            if (Cools.isEmpty(idleLoc)) {
                continue;
            }

@@ -395,7 +390,6 @@

        return levCount < Integer.parseInt(config.getValue());
    }



    /**