From 87186c12f7c8864da8925aea3e91ecde1d16d255 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 03 十月 2023 14:35:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 38 +++++++++++++++++++++++---------------
1 files changed, 23 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index a4829e8..4ecd592 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -794,6 +794,12 @@
return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
}
+ //鍒ゆ柇灏忚溅鏄惁瀛樺湪绉诲姩浠诲姟
+ WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (hasMoveWorking != null) {
+ return false;//瀛樺湪绉诲姩浠诲姟锛岀姝㈡墽琛屽叆搴撲换鍔�
+ }
+
//鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
//灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
@@ -1932,7 +1938,7 @@
Integer code = jsonObject.getInteger("code");
if (code.equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
+ barcodeThread.setBarcode("");
// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
// staProtocol.setStaNo(dto.getStaNo().shortValue());
@@ -2002,19 +2008,21 @@
targetSta = (short) 317;
- //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
- wrkMast.setStaNo(targetSta.intValue());
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //鍚�300绔欏啓鍏ョ洰鏍囩珯
- staProtocol = staProtocol.clone();
- staProtocol.setStaNo(targetSta);//绉诲姩鍒扮洰鏍囩珯
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- try {
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
+ if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
+ //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
+ wrkMast.setStaNo(targetSta.intValue());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //鍚�300绔欏啓鍏ョ洰鏍囩珯
+ staProtocol = staProtocol.clone();
+ staProtocol.setStaNo(targetSta);//绉诲姩鍒扮洰鏍囩珯
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ continue;
}
- continue;
}
}
}
@@ -2490,7 +2498,7 @@
}
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo());
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
List<NyShuttleHttpCommand> commands = result.getCommands();
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -2925,7 +2933,7 @@
// liftNode.setZ(basLift.getPoint$().getZ());
//鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
if (result == null) {
return false;//璺緞璁＄畻澶辫触
}
--
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