#

whycq

2024-05-07 babced4b43fef3901fc619357947a0917318d27b

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

@@ -811,6 +811,12 @@
                continue;
            }

            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                break;
//                        return;
            }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1522,6 +1528,7 @@
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        log.error("入库完成堆垛机任务=========》"+JSON.toJSONString(wrkMast));
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
@@ -1908,8 +1915,13 @@
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                StaProtocol staProtocol1 = devpThread.getStation().get(staNo+1);
                if (staProtocol == null) { continue; }
                if (staProtocol.getWorkNo() != 0) {
                if (staProtocol.getWorkNo() != 0 || staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
                if (staProtocol1.isLoading() || staProtocol1.getWorkNo() != 0) {
                    reset = false;
                    break;
                }