#

lty

2 天以前 102a41a8d5c231dd306bad622344e98312c1a774

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

@@ -721,6 +721,40 @@

    @Override
    @Transactional
    public boolean TaskArmLocStatus(ArmOKParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArmNo())
                .eq("sta_no", param.getStaNo())
                .eq("status", 1)
        );
        if (Cools.isEmpty(basArm)){
            log.error("机械臂配置异常，查询不到机械臂数据！！！"+ JSON.toJSONString(param));
            return false;
        }
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
        if (Cools.isEmpty(locMast)){
            log.error("查询不到locMast数据！！！"+ JSON.toJSONString(param));
            return false;
        }
        if (locMast.getLocSts().equals("D")){
            BasArmMast basArmMast = basArmMastService.selectOne(
                    new EntityWrapper<BasArmMast>()
                            .eq("sta_no", basArm.getStaNoSou())
                            .eq("arm_no", param.getArmNo())
                            .eq("status", 3)
            );
            if (Cools.isEmpty(basArmMast)){
                return true;
            }
            log.error("未查询到相关机械臂拆码垛任务！！！"+ JSON.toJSONString(param));
        } else {
            log.error("locMast状态不为D！！！"+ JSON.toJSONString(param));
        }
        return false;
    }

    @Override
    @Transactional
    public void taskArmWorkspaceStatus(TaskArmWorkspaceStatusParam param) {
        BasArm basArm = basArmService.selectOne(new EntityWrapper<BasArm>()
                .eq("arm_no", param.getArm_no())
@@ -960,6 +994,7 @@
        agvGoParam.setCode("0");
        agvGoParam.setMessage("继续执行");
        agvGoParam.setReqCode(param.getReqCode());
        agvGoParam.setTaskCode(param.getTaskCode());
        ReturnT<String> result = new PostMesDataUtils().postMesDataArmGrating("光栅下发后继续任务：", URL, AGVPath, agvGoParam);
        if (result.getCode()==200){
            return true;
@@ -998,10 +1033,10 @@
            }
            return false;
        }else {
            if (basAgvMast.getIoType()==0 && basAgvMast.getStaNo()==2034){
            if (basAgvMast.getIoType()==0 && (basAgvMast.getStaNo()==2034 || basAgvMast.getStaNo()==4003)){
                AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
                agvBindCtnrAndBinTwoParam.setReqCode(basAgvMast.getTaskNo() + "-" + basAgvMast.getTimestamp());
                agvBindCtnrAndBinTwoParam.setPodCode(basAgvMast.getBarcode());
                agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
                agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
                agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getStaNo().toString());
                agvBindCtnrAndBinTwoParam.setIndBind("0");;
                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器绑定解绑",