#

lsh

2025-07-07 3e1aa4864da243ade9f8ee6e3a6fc43e1cf5d8b2

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

@@ -204,6 +204,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(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));
@@ -1096,11 +1097,11 @@
                    }

                    // 判断堆垛机出库站状态
                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
//                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

//                    // 判断堆垛机出库站状态
//                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                        // 命令下发区 --------------------------------------------------------------------------

                        // 堆垛机控制过滤
@@ -1201,6 +1202,9 @@
                            }
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                            if (staProtocol.isLoading()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站有物");
                            }
                        } else {
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
@@ -1883,6 +1887,11 @@
            return null;
        }
        // 判断是否满足取货条件
        if (!staProtocol.isPakMkTask()) {
            devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
            return null;
        }
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
//                && staProtocol.isStaOk()
@@ -1891,8 +1900,20 @@
            if (taskWrk != null) {
                Integer stano = staProtocol.getStaNo();
                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
                    // 判断是否满足取货条件
                    if (!staProtocol.isPakMkRun()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
                        return null;
                    }
                    if (!staProtocol.isLoading()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
                        return null;
                    }
                    if (!staProtocol.isInEnable()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
                        return null;
                    }
                    if (!staProtocol.isStaOk()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
                        return null;
                    }
                    // 尺寸检测异常
@@ -1967,6 +1988,8 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setPakMkTask(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        try{
@@ -2433,6 +2456,7 @@
        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

            TaskProtocol issuedTake = new TaskProtocol();
            TaskProtocol issuedPut = new TaskProtocol();
@@ -2455,6 +2479,12 @@
                        return false;
                    }
                }
                try{
                    devpThread.setPakMkTask(rgvStn.getStaNo(), false);
                } catch (Exception e2){
                    RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
                }


                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));