*

L

2025-09-21 159a74e35b588f95fd3e9efc4e15733f84cbd829

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

@@ -8,8 +8,10 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.PostMesDataUtils;
@@ -4412,16 +4414,44 @@
                            log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
                            continue;
                        }
                        for (BasArmMast basArmMast:basArmMastList) {
                            ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
                            //设置工作空间就绪
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.ARM_URL, ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                            if (result.getCode()==200){
                                basArmMast.setStatus(1);
                                basArmMastService.updateById(basArmMast);
                            } else {
                                log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
                        BasArmMast basArmMast = basArmMastList.get(0);
                        List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLine())
                                        .eq("sku", basArmMast.getSku())
                                        .eq("order_no", basArmMast.getOrderNo())
                        );
                        if (basArmMastListOrder.size()==1){
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
                            //订单下发
                            try{
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                                ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                                if (result.getCode()==200){
                                    basArmMast.setStatus(1);
                                    basArmMastService.updateById(basArmMast);
                                } else {
                                    log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
                                }
                            } catch (Exception e){
                                log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
                                continue;
                            }
                        }
                        ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
                        //设置工作空间就绪
                        ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                        if (result.getCode()==200){
                            basArmMast.setStatus(1);
                            basArmMastService.updateById(basArmMast);
                        } else {
                            log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
                        }
                    }
                }  catch (Exception e){