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luxiaotao1123

2022-11-01 d92d7046939e5cee4dfb2177206350838968a232

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

@@ -1643,19 +1643,10 @@
                            // 穿梭车重新定位排列层
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                            if (steThread.confirmPos()) {
                                // 穿梭车下发充电任务
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                                } else {
                                    // 27.放至充电位 ===>> 28.开始充电
                                    wrkCharge.setWrkSts(28L);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改充电任务状态 27.放至充电位 ===>> 28.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                // 27.放至充电位 ===>> 28.充电就绪
                                wrkCharge.setWrkSts(28L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            } else {
                                log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
@@ -1894,11 +1885,11 @@
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 28) {
                                // 28.开始充电 ===>> 29.完成充电
                                wrkCharge.setWrkSts(29L);
                            } else if (wrkCharge.getWrkSts() == 29) {
                                // 29.开始充电 ===>> 30.完成充电
                                wrkCharge.setWrkSts(30L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 28.开始充电 ===>> 29.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -1906,7 +1897,7 @@
                                // 32.小车走行 ===>> 33.小车待搬
                                wrkCharge.setWrkSts(33L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2535,11 +2526,11 @@
                    if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
                            && steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
                            && steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
                        // 修改工作档状态 21.准备充电 => 24.小车到达
                        wrkCharge.setWrkSts(24L);
                        // 修改工作档状态 21.准备充电 => 28.充电就绪
                        wrkCharge.setWrkSts(28L);
                        wrkCharge.setModiTime(new Date());
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                            log.error("修改充电任务状态 21.准备充电 => 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    } else {
                        this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2547,7 +2538,7 @@

                } else {
                    // filter
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1)) {
                        continue;
                    }

@@ -2664,6 +2655,21 @@
                                }
                            }
                        }
                    } else if (wrkCharge.getWrkSts() == 28L) {
                        // 穿梭车下发充电任务
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                        steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                        if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                        } else {
                            // 28.充电就绪 ===>> 29.开始充电
                            wrkCharge.setWrkSts(29L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }
                        }
                    }
                }
            } catch (Exception e) {
@@ -2676,6 +2682,10 @@
     * 小车从充电桩 至 待机库位
     */
    public synchronized void steFromChargeToIdleLoc() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null)) { return; }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        // 检索充电桩
        for (SteChargeType value : SteChargeType.values()) {
            Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
            if (steNo != null) {
@@ -2685,7 +2695,21 @@
                if (Cools.isEmpty(steProtocol, basSte)) {
                    continue;
                }

                // 1号充电桩
                if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
                    continue;
                }
                // 2号充电桩
                if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
                    continue;
                }
                // 3号充电桩
                if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
                    continue;
                }
                if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }
            }
        }
    }

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

@@ -70,6 +70,8 @@
                    mainService.ledReset();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopSteCharge();
                    // 穿梭车 ===>> 小车复位至待机库位
                    mainService.steFromChargeToIdleLoc();

                } catch (Exception e) {
                    e.printStackTrace();

 src/main/resources/mapper/WrkChargeMapper.xml

@@ -36,7 +36,8 @@
        <if test="steNo != null">
            and ste_no = #{steNo}
        </if>
        and wrk_sts &lt; 29
        and wrk_sts &lt; 30
        and memo = 'charge'
    </select>

</mapper>