#

TQS

2024-08-13 696c9f6f674ea478d738cdb277c6f1c74ad637b3

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

@@ -993,36 +993,41 @@
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast || (wrkMast.getCrnNo()==2 && wrkMast.getWrkSts()==2 && crnProtocol.getCrnNo()!=2 && (wrkMast.getIoType()==1 || wrkMast.getIoType()==10)) ){
//                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    continue;
                }
                if (Cools.isEmpty(staProtocol.getWorkNo())){
                    continue;
                }
                //  判断堆垛机状态等待确认
                if (crnProtocol.modeType == CrnModeType.AUTO
                        && crnProtocol.statusType == CrnStatusType.IDLE
                        && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                    News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                    // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(staProtocol.getWorkNo()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setCommand((short) 0);
                    crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                    crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                    crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                try{
                    //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }
                    return true;
                    if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                        continue;
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO
                            && crnProtocol.statusType == CrnStatusType.IDLE
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                        // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(staProtocol.getWorkNo()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setCommand((short) 0);
                        crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                        crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                        crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                        }
                        return true;
                    }
                    continue;
                } catch (Exception e){
                    News.info("堆垛机接驳任务执行，一场："+e.getMessage());
                }
                continue;
            }
@@ -4084,6 +4089,9 @@
     */
    public synchronized void ledReset() {
        for (LedSlave led : slaveProperties.getLed()) {
            if (led.getId()>3){
                continue;
            }
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合