Merge remote-tracking branch 'origin/gdykwcs' into gdykwcs

zjj

2024-06-19 c8339858cc25bc142d6b59e9ed08afc1b48b4f2d

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

@@ -2548,7 +2548,7 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta() {
        boolean wrkEnable = false;
        try{
            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -2585,27 +2585,28 @@
                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
                            continue;
                        }
                        //判断工作结束位置状态
                        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
                        if (!Cools.isEmpty(devNo)){
                            if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
                            if (devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N") || !devNo.getInEnable().equals("Y")){
                                continue;
                            }
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            rgvThread.setPakMk(false);
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                            if (signMap){
                                Thread.sleep(300);
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                    return;
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                break;
                                return wrkEnable;
//                                break;
                            }else {
                                log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                                Thread.sleep(500);
@@ -2619,13 +2620,14 @@
                }

            }
            if (!wrkEnable){
                rgvRunWrkMastEmptyStaAvoidance();
            }
//            if (!wrkEnable){
//                rgvRunWrkMastEmptyStaAvoidance();
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return wrkEnable;
    }
    /**
     * 执行小车搬运任务