#

lsh

2024-01-26 bfe18b8eaa127d34286ef29b89066f5053cb3aee

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

@@ -140,6 +140,47 @@
                    staProtocol = staProtocol.clone();
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg+"后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg+"高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg+"左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg+"右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg+"超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }

                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
@@ -3084,7 +3125,8 @@
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
                    }
                    wrkMast.setWrkSts(52L);
//                    wrkMast.setWrkSts(52L);
                    wrkMast.setWrkSts(57L);
                    wrkMastMapper.updateById(wrkMast);
                    Thread.sleep(100);

@@ -3548,6 +3590,8 @@
                        default:
                            break;
                    }
                }else {

                }
                for (int signCount = 1;!signWork && signCount<7;signCount++){
                    switch (signCount){
@@ -3577,11 +3621,11 @@
                    rgvIoExecuteSign = signWork;
                }
            }
            if (!rgvIoExecuteSign){
                if (sign>6){
                    rgvRunWrkMastEmptyStaAvoidance();//避让
                }
            }
//            if (!rgvIoExecuteSign){
//                if (sign>6){
//
//                }
//            }
        }catch (Exception e){
            log.error("RGV小车任务下发报错"+e);
        }