*

lsh

2025-06-16 41d54f55168781798aff4f1137f696ab02c05e79

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

@@ -374,6 +374,7 @@
                                    && rgvProtocol.modeType == RgvModeType.AUTO
                                    && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                    && rgvProtocol.getTaskNo1() == 0
                                    && rgvProtocol.getRgvPosInt() != 0
                                    && rgvProtocol.getAlarm() == 0) {
                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                                if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
@@ -524,7 +525,7 @@
                        && rgvProtocol.getTaskNo1() != 0
                ) {
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
@@ -607,16 +608,11 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
@@ -625,16 +621,22 @@
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        wrkMast.setLogErrTime(new Date());
                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
                        wrkMastService.updateById(wrkMast);
//                        wrkMast.setLogErrTime(new Date());
//                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
//                        wrkMastService.updateById(wrkMast);
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));

                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }

                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setRgvNo(null);
                    wrkMast.setAppeTime(now);
                    wrkMast.setLogErrTime(now);
                    wrkMast.setRgvNo(null);