zy-wcs.git - Gitblit

			@@ -4,6 +4,7 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			@@ -104,6 +105,9 @@
			private Long avoidDistance;
			@Autowired
			private TaskWrkLogServiceImpl taskWrkLogService;
			@Autowired
			private BasPlcerrorLogServiceImpl basPlcerrorLogService;
			public Long currentTimeMilliConnectCrnAuto= 0L;

			public void generateStoreWrkFile() {
			try {
			@@ -133,31 +137,55 @@
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			@@ -176,6 +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));
			@@ -640,6 +669,9 @@
			}

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

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			@@ -719,30 +751,71 @@
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			if (crnProtocol.getLaneNo()!=0 && (crnProtocol.getBay()!=1 \|\| crnProtocol.getLevel()!=1)){
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0) {
			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<10006010){
			continue;
			}
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
			if (crnProtocol.getBay()!=1 \|\| crnProtocol.getLevel()!=1){
			//获取工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
			if (!taskWrks.isEmpty()) {
			continue;
			}
			List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
			if (taskWrkLogs.isEmpty()) {
			CrnCommand command = new CrnCommand();
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(4, command))) {
			log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());
			List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",false));
			if (!taskWrkLogs.isEmpty()) {
			boolean signT = false;
			for (TaskWrkLog taskWrkLog : taskWrkLogs){
			Date completeTime = taskWrkLog.getCompleteTime();
			if (completeTime==null){
			continue;
			}
			long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
			if (differenceInSeconds <= 6021000) {
			signT = true;
			break;
			} else {
			signT = false;
			break;
			}
			}
			if (signT){
			continue;
			}
			}
			// long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(taskWrkLogs.get(0).getCompleteTime(), new Date());
			// if (differenceInSeconds <= 1000) {
			// return;
			// }
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			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.SITE_MOVE); // 任务模式: 站位移转4
			int row = crnProtocol.getLaneNo() * 2;
			crnCommand.setSourcePosX((short) row); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) row); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位层
			crnCommand.setDestinationPosZ((short) 1); // 目标库位列
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());

			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>10006010){
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
			} catch (Exception e2){
			}
			if (currentTimeMilliConnectCrnAuto == 0){
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-10006010-1;
			} else {
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机5分钟无任务则回到源点失败");
			log.error("堆垛机10分钟无任务则回到源点失败");
			}
			}
			}
			@@ -765,6 +838,9 @@
			}

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

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			@@ -919,22 +995,22 @@
			// }

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo(taskWrk.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(taskWrk.getTargetPoint())); // 目标库位列
			CrnCommand crnCommand1 = new CrnCommand();
			crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand1.setAckFinish((short) 0); // 任务完成确认位
			crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand1.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand1.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand1.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
			crnCommand.setDestinationPosY((short)bay1); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand1.setDestinationPosY((short)bay1); // 目标库位层
			crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			// crnCommand.setCommand((short) 1);
			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));
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
			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");

			@@ -1027,11 +1103,11 @@
			}

			// 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
			@@ -1133,6 +1209,9 @@
			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");
			}
			@@ -1171,6 +1250,7 @@

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			continue;
			}

			@@ -1266,6 +1346,9 @@
			}

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

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			@@ -1285,11 +1368,14 @@
			}
			// 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
			@@ -1413,8 +1499,8 @@
			null, // 结束时间
			taskWrk.getWrkSts().longValue(), // 工作状态
			taskWrk.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			taskWrk.getCrnNo(), // 巷道号
			crn.getId(), // 堆垛机号
			taskWrk.getTargetPoint(), // 目标库位
			0, // 目标站
			0, // 源站
			@@ -1460,8 +1546,8 @@
			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
			@@ -1496,6 +1582,132 @@
			}
			} catch (Exception e){
			log.error("堆垛机异常信息记录失败 ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
			}
			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			public void recDevErr() {
			Date now = new Date();
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			try{
			// 获取堆垛机信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			Map<Integer, StaProtocol> station = devpThread.getStation();
			for (StaProtocol staProtocol : station.values()){
			try{
			if (staProtocol == null) {
			continue;
			}
			// if (staProtocol.isAutoing()) {
			// // 有任务
			// if (staProtocol.getWorkNo() != 0) {
			//// BasErrLog latest = basPlcerrorLogService.se(crn.getId(), crnProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			// if (taskWrk == null) {
			// continue;
			// }
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// taskWrk.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// taskWrk.getWrkSts().longValue(), // 工作状态
			// taskWrk.getIoType(), // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// taskWrk.getTargetPoint(), // 目标库位
			// 0, // 目标站
			// 0, // 源站
			// taskWrk.getStartPoint(), // 源库位
			// taskWrk.getBarcode(), // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// taskWrk.getCreateTime(), // 任务时间(接收时间)
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// // 无任务
			// } else {
			// BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// // 有异常
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			} catch (Exception devErr){
			log.error("输送线站点异常信息记录失败 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
			}
			}
			} catch (Exception e){
			log.error("输送线异常信息记录失败 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
			}
			}
			}
			@@ -1682,6 +1894,11 @@
			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()
			@@ -1690,8 +1907,20 @@
			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
			@@ -1702,31 +1931,55 @@
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			@@ -1742,6 +1995,8 @@
			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{
			@@ -1843,6 +2098,11 @@
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
			} catch (Exception e2){
			}
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			@@ -2159,6 +2419,11 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
			} catch (Exception e2){
			}
			}
			}
			}
			@@ -2198,6 +2463,7 @@
			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();
			@@ -2220,6 +2486,12 @@
			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));
			@@ -2258,6 +2530,11 @@
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
			} catch (Exception e2){
			}
			return false;
			}

			@@ -2276,6 +2553,12 @@
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
			} catch (Exception e2){
			}
			}
			return true;
			}