#

lsh

2024-07-17 675ed4fa602e79e220e76fcdbc56e4630c0fb21c

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

@@ -1233,7 +1233,7 @@
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == null || staProtocol.getWorkNo() == 0)) {

                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,crnNo);
@@ -1294,6 +1294,9 @@
                        }
                    }
                }else if (conStation==2){
                    if (crnProtocol.statusType != CrnStatusType.IDLE){
                        return false;
                    }
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNoTwo().intValue());
                    if (wrkMast == null) {
@@ -1956,6 +1959,10 @@
                        crnCommandParam.setDestinationPosX((short)0);     // 目标库位排
                        crnCommandParam.setDestinationPosY((short)0);     // 目标库位列
                        crnCommandParam.setDestinationPosZ((short)0);     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommandParam.getCrnNo()-2))) {
                            log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommandParam.getCrnNo()-2);
                            continue;
                        }
                        if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
                        } else {
@@ -4506,6 +4513,39 @@
            int[] sign = new int[]{0,0};
            // 只有当堆垛机自动时才继续执行
            if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                //双
                if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 1
                        && crnProtocol.getForkPos() == 0) {
                    if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                            && crnProtocol.getTaskNoTwo() == 0
                            && crnProtocol.getLoadedTwo() == 1
                            && crnProtocol.getForkPosTwo() == 0){
                        List<WrkMastSplitTwin> wrkMastSplitTwinList1 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),1,2,2,0);
                        List<WrkMastSplitTwin> wrkMastSplitTwinList2 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),2,2,2,0);
                        if (!wrkMastSplitTwinList1.isEmpty() && !wrkMastSplitTwinList2.isEmpty() ){
                            if (wrkMastSplitTwinList1.size()>1 || wrkMastSplitTwinList2.size()>1 ){
                                log.error("Pair堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
                                return false;
                            }
                            WrkMastSplitTwin wrkMastSplitTwin1 = wrkMastSplitTwinList1.get(0);
                            WrkMastSplitTwin wrkMastSplitTwin2 = wrkMastSplitTwinList2.get(0);
                            boolean ack =  crnExecutePutFullPair(crn.getId(), wrkMastSplitTwin1,wrkMastSplitTwin2, sign[1]);
                            if (ack){
                                wrkMastSplitTwin1.setWrkSts(wrkMastSplitTwin1.getWrkType()==1? 1:3);
                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin1);
                                wrkMastSplitTwin2.setWrkSts(wrkMastSplitTwin2.getWrkType()==1? 1:3);
                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin2);
                            }else {
                                log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
                            }

                            return false;
                        }

                    }
                }
                // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行
                switch (i){
                    case 1:
@@ -7802,6 +7842,14 @@
                        continue;
                    }
                } else if (steProtocol.getCharge()<80.0F){
                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
                        add(5);
                        add(11);
                        add(16);
                    }});
                    if(!basJarMastList.isEmpty()){
                        continue;
                    }
                    if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
                        continue;
                    }