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2025-05-27 1b9f41e12e3ee8ac8bbc388eab7585300bdab75a

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

@@ -128,7 +128,7 @@

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    String errMsg = "-";
                    if (staProtocol.getGrossWt()>=600){
                        errMsg = "超重";
                        back = true;
@@ -177,6 +177,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                        if (taskWrk != null) {
@@ -217,6 +218,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staProtocol.getSiteId());
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -252,6 +254,7 @@
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                continue;
                            }
@@ -270,6 +273,8 @@
                            if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
                                try {
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功等待任务");

                                } catch (Exception e) {
                                    // 退回
                                    log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
@@ -278,9 +283,18 @@
                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getBackSta());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功锁定失败");

                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }

                            } else {
                                // 退回
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("msg"));
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }
                        } else {
                            // 退回
@@ -289,6 +303,7 @@
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setErrorDev(staProtocol.getSiteId(), "扫码入库扫码失败！！！扫码值："+barcode);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                            if (taskWrk != null) {
@@ -558,6 +573,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                                        Date now = new Date();
@@ -721,8 +737,19 @@
                        crnProtocol.setLastIo("O");
                    }
                }
            }  else {
                if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
                    if (crnProtocol.getTaskNo() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    }
                    if (crnProtocol.getLoaded() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "载货台有物");
                    }
                    if (crnProtocol.getForkPos() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "货叉位置不在中位");
                    }
                }
            }

        }
    }

@@ -749,7 +776,8 @@
                    log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
//                        && staProtocol.isInEnable()
                        && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    flag = true;
                }
@@ -764,12 +792,20 @@
                }

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                    continue;
                }
                if (crnProtocol.getTaskNo() != 0) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    continue;
                }

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }

@@ -831,9 +867,15 @@
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                    throw new CoolException("堆垛机命令生成失败");
                } else {
                    try {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                        taskWrkService.updateById(taskWrk);
                    } catch (Exception e) {
                        log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
@@ -922,12 +964,21 @@
                        // 命令下发区 --------------------------------------------------------------------------

                        // 堆垛机控制过滤
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                            break;
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                            continue;
                        }
                        if (crnProtocol.getTaskNo() != 0) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");

                            continue;
                        }

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
                        }

@@ -946,6 +997,8 @@
                        command.setCommand((short) 1);
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                            throw new CoolException("堆垛机命令生成失败");
                        } else {
                            try {
@@ -955,6 +1008,9 @@
                                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
                                taskWrk.setModiTime(now);
                                taskWrk.setExecuteTime(now);
                                devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                                if (taskWrkMapper.updateById(taskWrk) == 0) {
                                    log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                                }
@@ -991,6 +1047,19 @@
                            } catch (Exception e) {
                                log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
//                                throw new CoolException("wcs派发入库任务上报wms失败");
                            }
                        }
                    } else {
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
                        if (staProtocol.isAutoing()){
                            if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "能出：未打开");
                            }
                            if (staProtocol.getWorkNo() == 0){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                            }
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                        }
                    }
@@ -1404,7 +1473,10 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        if (rgvProtocol.getLoaded()==1){
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1428,7 +1500,7 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }

@@ -1445,7 +1517,7 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1474,7 +1546,7 @@
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
                && staProtocol.isStaOk()
//                && staProtocol.isStaOk()
                && staProtocol.getWorkNo() != 0) {
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
            if (taskWrk != null) {
@@ -1630,7 +1702,7 @@
                                }
                            }
                        }
                        if (!sign) {
                        if (!sign && staList.size()>1) {
                            //  半边区域内取货任务
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
@@ -1653,26 +1725,26 @@
                                }
                            }
                        }
                        if (!sign) {
                            //  半边区域内放货任务
                            for (Integer staNoNow : rangeListOther) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }
                        }
//                        if (!sign) {
//                            //  半边区域内放货任务
//                            for (Integer staNoNow : rangeListOther) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
                    } else {
                        //可用区域就近取货
                        //就近排序