From eb519c38628c40669a63fa2e34f5aae876faecf9 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期一, 21 七月 2025 16:10:58 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 270 +++++++++++++++++------------------------------------
1 files changed, 88 insertions(+), 182 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 80f3170..cd2efe4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -17,10 +17,8 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
-import com.zy.core.model.*;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.*;
-import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -38,8 +36,6 @@
@Service("mainService")
public class MainServiceImpl {
- @Autowired
- private SlaveProperties slaveProperties;
@Autowired
private WrkMastService wrkMastService;
@Autowired
@@ -91,7 +87,7 @@
Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
if (data == null) {//redis鍦板浘鏁版嵁涓虹┖
//杞藉叆鍦板浘
- List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
//瀛樺叆鏁版嵁搴�
basMap.setData(JSON.toJSONString(lists));
@@ -200,7 +196,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;
@@ -338,7 +334,7 @@
//寮哄埗棰勭暀涓�鍙板皬杞︾粰鍏ュ簱浠诲姟
int lev = Utils.getLev(wrkMast.getSourceLocNo());
//鑾峰彇褰撳墠妤煎眰鏈夊嚑鍙板彲鐢ㄥ皬杞�
- int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
+ int shuttleCount = shuttleDispatchUtils.getShuttleEnableUseCountByLev(lev);
if (shuttleCount >= 2) {//鍙湁鍙敤灏忚溅鏁伴噺澶т簬2锛屾墠杩涜鍏ュ簱浠诲姟棰勭暀灏忚溅
int shuttleWrkInObligateCount = 1;//棰勭暀灏忚溅鏁伴噺
Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
@@ -397,7 +393,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;
@@ -433,99 +429,6 @@
return false;
}
return true;
- }
-
- /**
- * 鍥涘悜绌挎杞︿换鍔″畬鎴�
- */
- public synchronized void shuttleFinished() {
- try {
- List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.Shuttle)));
- for (DeviceConfig device : shuttleList) {
- //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
- && shuttleProtocol.getTaskNo() != 0
- ) {
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
- if (wrkMast != null) {
- if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
- //5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
- //102.灏忚溅鎼繍涓� ==> 103.灏忚溅鎼繍瀹屾垚
- wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY.sts) {
- //302.灏忚溅绉诲姩鑷宠繎鐐逛腑 ==> 303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴�
- wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
- //304.灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
- //308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
- if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
- continue;//灏忚溅鏈埌杈剧洰鏍囧眰
- }
- wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
- //310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//瑙﹀彂閫氱煡
- } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
- //204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
- wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
- } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
- //502.灏忚溅鎼繍涓� ==> 509.绉诲簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//瑙﹀彂閫氱煡
- } else {
- continue;
- }
-
- if (wrkMastService.updateById(wrkMast)) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- } else {
- News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
- }
- } else {
- Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
- if(object != null){
- ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
- if (!assignCommand.getAuto()) {
- //鎵嬪姩妯″紡
- //宸ヤ綔鍙锋竻闆�
- shuttleThread.setTaskNo(0);
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- }
- }
- }
- }
-
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
}
/**
@@ -605,7 +508,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;
@@ -766,9 +669,9 @@
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
+ ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
+ commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
@@ -894,9 +797,9 @@
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
+ ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
+ commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
@@ -928,6 +831,9 @@
for (DeviceConfig device : forkliftList) {
//鑾峰彇鎻愬崌鏈轰俊鎭�
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
+ if(forkLiftThread == null) {
+ continue;
+ }
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
if (forkLiftProtocol == null) {
continue;
@@ -1302,7 +1208,7 @@
return false;
}
- if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ if (wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
//灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
wrkMast.setModiTime(new Date());
@@ -1586,7 +1492,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//璁＄畻杩戠偣浣嶇疆
- String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, null, null, 1);
+ String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
if (endLocation == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹁繎鐐逛綅缃绠楀け璐�", wrkMast.getWrkNo());
return false;
@@ -1602,7 +1508,7 @@
}
//鑾峰彇灏忚溅鍒拌繎鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.SHUTTLE), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞瑙ｉ攣澶辫触
@@ -1717,7 +1623,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒版彁鍗囨満琛岃蛋鍛戒护
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞瑙ｉ攣澶辫触
@@ -1779,9 +1685,9 @@
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
+ ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
+ commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
@@ -1901,7 +1807,7 @@
assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
//鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞璁＄畻澶辫触
@@ -1923,73 +1829,73 @@
//鑷姩鍒囨崲鍑哄叆搴撴ā寮�
public void autoSwitchForkLiftIOMode() {
- List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.ForkLift)));
- for (DeviceConfig device : forkliftList) {
- Integer liftNo = device.getDeviceNo();
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
- if (liftAllStaNo.isEmpty()) {
- continue;
- }
-
- List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
- if (conveyorBindLiftAllStaNo.isEmpty()) {
- continue;
- }
-
- //鑾峰彇鍏ュ簱浠诲姟
- List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("sta_no", liftAllStaNo)
- .in("wrk_sts"
- , WrkStsType.NEW_INBOUND.sts
- , WrkStsType.INBOUND_DEVICE_RUN.sts
- , WrkStsType.INBOUND_LIFT_RUN.sts
- , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
- , WrkStsType.INBOUND_SHUTTLE_RUN.sts
- , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
- ));
-
- //鑾峰彇鍑哄簱浠诲姟
- List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("sta_no", conveyorBindLiftAllStaNo)
- .in("wrk_sts"
- , WrkStsType.NEW_OUTBOUND.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- , WrkStsType.OUTBOUND_LIFT_RUN.sts
- , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
- ));
-
- if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
- //鏈煡妯″紡
- if (!inWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- } else if (!outWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
- }else {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- }
- } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
- //鍏ュ簱妯″紡
- if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
- }
- } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
- //鍑哄簱妯″紡
- if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- }
- }
- }
+// List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+// .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+// for (DeviceConfig device : forkliftList) {
+// Integer liftNo = device.getDeviceNo();
+// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
+// if (forkLiftThread == null) {
+// continue;
+// }
+// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+// if (forkLiftProtocol == null) {
+// continue;
+// }
+//
+// List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
+// if (liftAllStaNo.isEmpty()) {
+// continue;
+// }
+//
+// List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
+// if (conveyorBindLiftAllStaNo.isEmpty()) {
+// continue;
+// }
+//
+// //鑾峰彇鍏ュ簱浠诲姟
+// List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+// .in("sta_no", liftAllStaNo)
+// .in("wrk_sts"
+// , WrkStsType.NEW_INBOUND.sts
+// , WrkStsType.INBOUND_DEVICE_RUN.sts
+// , WrkStsType.INBOUND_LIFT_RUN.sts
+// , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
+// , WrkStsType.INBOUND_SHUTTLE_RUN.sts
+// , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
+// ));
+//
+// //鑾峰彇鍑哄簱浠诲姟
+// List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+// .in("sta_no", conveyorBindLiftAllStaNo)
+// .in("wrk_sts"
+// , WrkStsType.NEW_OUTBOUND.sts
+// , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
+// , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
+// , WrkStsType.OUTBOUND_LIFT_RUN.sts
+// , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
+// ));
+//
+// if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
+// //鏈煡妯″紡
+// if (!inWrkMasts.isEmpty()) {
+// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
+// } else if (!outWrkMasts.isEmpty()) {
+// forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
+// }else {
+// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
+// }
+// } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
+// //鍏ュ簱妯″紡
+// if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
+// forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
+// }
+// } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
+// //鍑哄簱妯″紡
+// if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
+// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
+// }
+// }
+// }
}
//鍑哄簱浠诲姟棰勮皟搴︽彁鍗囨満
@@ -2060,9 +1966,9 @@
int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//鑾峰彇浠诲姟鍙�
//鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
+ ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommand);
+ commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
--
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