#

lsh

2024-03-21 b9927bd58cdc940069c7640f3cc04a60dd37ef87

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

@@ -363,11 +363,17 @@

                        } else {
                            // 退回
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                            staProtocol.setWorkNo(workNo);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                            staProtocol.setWorkNo((short)0);
//                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            Thread.sleep(500);

                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                            if (taskWrk != null) {
                                taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
@@ -1159,6 +1165,12 @@
    //agv取放货任务完成
    public synchronized void autoCompleteAGV() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        try{
            Thread.sleep(500);
        }catch (Exception e){

        }

        for (BasDevp basDevp:basDevps){
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
@@ -1173,7 +1185,9 @@
                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                }
                boolean sign = true;
                if (basDevp.getAgvTargetPlace()!=0){
                    sign = false;
                    basDevp.setAgvTargetPlace(0);
                    basDevpService.updateById(basDevp);
                    staProtocol.setAgvTypeSign((short)3);//1
@@ -1182,9 +1196,19 @@
                }
            }else {
                if (basDevp.getAgvTargetPlace()!=0){
                    staProtocol.setAgvTypeSign((short)1);
                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                    if (basDevp.getLoading().equals("Y")){
                        staProtocol.setAgvTypeSign((short)1);
                        staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                    }else {
                        log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp);
                        basDevp.setAgvTargetPlace(0);
                        basDevpService.updateById(basDevp);
                        staProtocol.setAgvTypeSign((short)3);//1
                        staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                    }

                }
                if (basDevp.getAgvTargetPick()!=0){
                    basDevp.setAgvTargetPick(0);