#

lsh

2024-05-16 3a59034076378b9c3e8e928ea433219f3fffaebe

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

@@ -296,8 +296,9 @@
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }
                WrkMastSta wrkMastSta = wrkMastStaMapper.selectById(rgvProtocol.getTaskNo1());
                if (!Cools.isEmpty(wrkMastSta)){
                List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_no", rgvProtocol.getTaskNo1()));
                if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
                    WrkMastSta wrkMastSta = wrkMastStas.get(0);
                    wrkMastSta.setWrkSts(3);
                    wrkMastStaMapper.updateById(wrkMastSta);
                }
@@ -486,7 +487,7 @@
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
@@ -494,7 +495,7 @@
            ) {
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>());
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
@@ -525,7 +526,7 @@
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            rgvCommand.setCommand((short) 0);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));