#

Junjie

2025-04-03 ac09ee9c9f39cb9d452b57504e5c79321e0371eb

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java

@@ -113,12 +113,6 @@
//                    return false;
//                }

                //判断目标站是否有托盘
                Integer conveyorDeviceId = Integer.parseInt(motion.getDockNo());
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, conveyorDeviceId);
                if (devpThread == null) {
                    return false;
                }
//                //*************标准系统代码********************
//                StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
//                if (staProtocol == null) {
@@ -135,29 +129,7 @@
//                }
//                //*************************************************


                //*************此代码为光泰定制代码********************
                Integer tarDrt = motion.getTarDrt();
                if (tarDrt == 31001) {
                    tarDrt = 31004;
                }

                StaProtocol staProtocol = devpThread.getStation().get(tarDrt);
                if (staProtocol == null) {
                    return false;
                }
                if (!staProtocol.isAutoing()) {
                    return false;
                }
                if (staProtocol.isLoading()) {
                    return false;
                }
                if (staProtocol.getWorkNo().intValue() != 0) {
                    return false;
                }
                //*************************************************

                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), task.getTaskSts() < 100 ? LiftCommandModeType.PALLET_IN : LiftCommandModeType.PALLET_OUT);
                list.addAll(command);

                motion.setTemp(String.valueOf(assignCommand.getDeviceTaskNo()));