*

L

2025-07-17 8cac228f877e7183646aee6f474848ae5a38ca50

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

@@ -204,6 +204,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -668,7 +669,7 @@
            }

            CrnSlave crnSlave = new CrnSlave(crn);
            if (Cools.isEmpty(crnProtocol.getLoaded()) || crnProtocol.getLoaded()==0){
            if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                continue;
            }

@@ -778,13 +779,13 @@
                        // 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                        crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                        crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                        crnCommand.setTaskNo((short)999); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  库位移转
                        crnCommand.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式:  站位移转4
                        crnCommand.setSourcePosX((short) 0);     // 源库位排
                        crnCommand.setSourcePosY((short) 0);     // 源库位列
                        crnCommand.setSourcePosZ((short) 0);   // 源库位层
                        crnCommand.setSourcePosY(crnProtocol.getBay());     // 源库位列
                        crnCommand.setSourcePosZ(crnProtocol.getLevel());   // 源库位层
                        int row = crnProtocol.getLaneNo() * 2;
                        crnCommand.setDestinationPosX((short) row);     // 目标库位排
                        crnCommand.setDestinationPosY((short) 1);     // 目标库位层
@@ -831,7 +832,7 @@
            }

            CrnSlave crn = new CrnSlave(crnSlave);
            if (Cools.isEmpty(crnProtocol.getLoaded()) || crnProtocol.getLoaded()==0){
            if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                continue;
            }

@@ -940,6 +941,41 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                    if (taskWrkNow3.getWrkSts() == 3){
                        try{
                            // 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                            crnCommand.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 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(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.getRowShort(taskWrkNow3.getTargetPoint()));     // 目标库位列
                            int bay1 = Utils.getBayShort(taskWrkNow3.getTargetPoint()) + 1;
                            crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                            crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrkNow3.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+crnCommand.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(crnCommand.getNowTask()));
                            } catch (Exception e2){
                            }
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                                devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                                throw new CoolException("堆垛机命令生成失败");
                            }
                        } catch (Exception eNow3){

                        }
                    }

                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
@@ -1096,11 +1132,11 @@
                    }

                    // 判断堆垛机出库站状态
                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
//                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

//                    // 判断堆垛机出库站状态
//                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                        // 命令下发区 --------------------------------------------------------------------------

                        // 堆垛机控制过滤
@@ -1117,6 +1153,39 @@

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {

                            TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                            if (taskWrkNow3.getWrkSts() == 12){
                                try{
                                    CrnCommand command = new CrnCommand();
                                    command.setCrnNo(slave.getId()); // 堆垛机编号
                                    command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
                                    command.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 工作号
                                    command.setAckFinish((short) 0);  // 任务完成确认位
                                    command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
                                    command.setSourcePosX(Utils.getRowShort(taskWrkNow3.getStartPoint()));     // 源库位排
                                    int bayS = Utils.getBayShort(taskWrkNow3.getStartPoint()) + 1;
                                    command.setSourcePosY((short)bayS);     // 源库位列
                                    command.setSourcePosZ(Utils.getLevShort(taskWrkNow3.getStartPoint()));     // 源库位层
                                    command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                                    command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                    command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                        command.setCommand((short) 1);
                                    try{
                                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(command.getNowTask()));
                                    } catch (Exception e2){
                                    }
                                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                                        log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                                        devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                                        throw new CoolException("堆垛机命令生成失败");
                                    }
                                } catch (Exception eNow3){

                                }
                            }
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
@@ -1201,6 +1270,9 @@
                            }
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                            if (staProtocol.isLoading()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站有物");
                            }
                        } else {
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
@@ -1335,7 +1407,7 @@
                }

                CrnSlave crn = new CrnSlave(crnSlave);
                if (Cools.isEmpty(crnProtocol.getLoaded()) || crnProtocol.getLoaded()==0){
                if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                    continue;
                }

@@ -1357,11 +1429,14 @@
                    }
//                Thread.sleep(300);
                    //确认完成信号
                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                    crnOperatorParam.setCrnNo(crn.getId());
//                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
//                    crnOperatorParam.setCrnNo(crn.getId());
                    Date now = new Date();

                    crnController.crnTaskComplete(crnOperatorParam);
//                    crnController.crnTaskComplete(crnOperatorParam);
//                    MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
                    crnThread.setResetFlag(true);

                    if (!Cools.isEmpty(taskWrk)) {
                        if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                            taskWrk.setWrkSts(4);//入库完成
@@ -1532,8 +1607,8 @@
                                        null,    // 结束时间
                                        null,    // 工作状态
                                        null,    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        crnProtocol.getLaneNo(),    // 堆垛机
                                        crn.getId(),    // plc
                                        null,    // 目标库位
                                        null,    // 目标站
                                        null,    // 源站
@@ -1880,6 +1955,11 @@
            return null;
        }
        // 判断是否满足取货条件
        if (!staProtocol.isPakMkTask()) {
            devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
            return null;
        }
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
//                && staProtocol.isStaOk()
@@ -1888,8 +1968,20 @@
            if (taskWrk != null) {
                Integer stano = staProtocol.getStaNo();
                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
                    // 判断是否满足取货条件
                    if (!staProtocol.isPakMkRun()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
                        return null;
                    }
                    if (!staProtocol.isLoading()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
                        return null;
                    }
                    if (!staProtocol.isInEnable()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
                        return null;
                    }
                    if (!staProtocol.isStaOk()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
                        return null;
                    }
                    // 尺寸检测异常
@@ -1964,6 +2056,8 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setPakMkTask(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        try{
@@ -2430,6 +2524,7 @@
        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

            TaskProtocol issuedTake = new TaskProtocol();
            TaskProtocol issuedPut = new TaskProtocol();
@@ -2452,6 +2547,12 @@
                        return false;
                    }
                }
                try{
                    devpThread.setPakMkTask(rgvStn.getStaNo(), false);
                } catch (Exception e2){
                    RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
                }


                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));