#

Junjie

2025-08-13 444aaced36d4d3e9c32815b436dcfaff3226094d

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

@@ -62,7 +62,6 @@
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;
@@ -743,6 +742,12 @@
//                continue;
//            }

            //堆垛机回原点任务中
            Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
            if (object != null) {
                continue;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -842,7 +847,7 @@
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 60);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
@@ -914,7 +919,7 @@
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 60);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
@@ -1891,9 +1896,13 @@
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_no", dto.getLocNo()));

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            staProtocol.setPalletSize(locMast.getLocType2());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -2001,7 +2010,7 @@
                    wrkMast1.setIoType(3); // 入出库状态：3.站到站
                    wrkMast1.setIoPri(13D); // 优先级
                    wrkMast1.setSourceStaNo(emptyInSta.getStaNo());
                    wrkMast1.setStaNo(1007);
                    wrkMast1.setStaNo(1004);
                    wrkMast1.setBarcode(barcode);
                    // 操作人员数据
                    wrkMast1.setAppeTime(new Date());
@@ -2014,6 +2023,7 @@
                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo((short) 2003);
                    staProtocol.setPalletSize((short) 1);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {