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2025-11-20 8478d41abf4febfac7ad3b7f863e5e4889bff9de

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

@@ -1137,69 +1137,6 @@
            } else {
                staProtocol = staProtocol.clone();
            }
//            WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
//
//            if (slave.getId() == 3 && wrkMast9996 != null) {
//                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,2);
//                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//                if (staDetl == null) {
//                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                    break;
////                    continue;
//                }
//                if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
//                    // 堆垛机控制过滤
//                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
////                        continue;
//                        break;
//                    }
//                    // 已经存在吊车执行任务时，则过滤
//                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                        break;
////                        return;
//                    }
//                    // 1.堆垛机开始移动
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9996); // 工作号
////                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//                    crnCommand.setSourcePosX((short) 9);     // 源库位排
//                    crnCommand.setSourcePosY((short) 52);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 3);     // 源库位层
//                    if(wrkMast9996.getStaNo()>2000){
//                        crnCommand.setDestinationPosX((short) 9);     // 目标库位排
//                        crnCommand.setDestinationPosY((short) 52);     // 目标库位列
//                        crnCommand.setDestinationPosZ((short) 2);     // 目标库位层
//                    }else{
//                        crnCommand.setDestinationPosX((short) 11);     // 目标库位排
//                        crnCommand.setDestinationPosY((short) 52);     // 目标库位列
//                        crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
//                    }
//
////                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
//                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast9996.setWrkSts(3L);
//                        wrkMast9996.setCrnStrTime(now);
//                        wrkMast9996.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast9996) == 0) {
//                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9996.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -1308,18 +1245,6 @@
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();