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2025-12-20 dcb12fd1c532e5548d7159b266244d21d6dcb164

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

@@ -114,6 +114,8 @@
    @Autowired
    private BasDevpOptService basDevpOptService;
    @Autowired
    private BasRgvOptService basRgvOptService;
    @Autowired
    private MatService matService;

    @Value("${wms.url}")
@@ -2970,7 +2972,7 @@
            //如果站点可出禁用，则不生成空盘出库任务
            switch (site){
                case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
                case 2031:staProtocol = devpThread2.getStation().get(site);break;
                case 2031:staProtocol = devpThread2.getStation().get(site + 1);break;
            }
            if (staProtocol == null) {
                return;
@@ -3722,9 +3724,14 @@

            }

            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
                    && rgvThread.isPaking() && basRgv.getPakAll().equals("1")){
            RgvThread rgvThread1 = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol1 = rgvThread.getRgvProtocol();
            if (rgvProtocol1 == null) {
                continue;
            }
            if(rgvProtocol1.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol1.getModeType() == RgvModeType.AUTO && rgvThread1.isPakMk()
                    && rgvThread1.isPaking() && basRgv.getPakAll().equals("1")){
                if(basRgv.getPakOut().equals("1") && basRgv.getPakIn().equals("1")){
                    rgvPreSchedulingIn(rgv, rgvProtocol);//若暂无下发任务预调度提前到取货点
                    if (rgvProtocol.getLastIo().equals("I")) {
@@ -4455,34 +4462,34 @@
            }
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()); //倒数第二个
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()==1043?1044:1103); //倒数第二个
            StaProtocol staProtocol2 = null;  //连续取货任务站点
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta3 = null;//连取两个
            Integer staNo = null;  //与调度
            switch (rgvStn.getStaNo2()){
                case 1043: staNo = 1044;break;
                case 1104: staNo = 1103;break;
            }
            if(staNo != null ){
                staProtocol2 = devpThread.getStation().get(staNo);
                if (staProtocol2 == null) {
                    News.infoNoLog(" - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
                if (staDetl2 == null) {
                    News.error(" - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) || (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
                    //当连续取货站点为相同类型时才能连续取
                    wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                }

            }
//            WrkMastSta wrkMastSta3 = null;//连取两个
//            Integer staNo = null;  //与调度
//            switch (rgvStn.getStaNo2()){
//                case 1043: staNo = 1044;break;
//                case 1104: staNo = 1103;break;
//            }
//            if(staNo != null ){
//                staProtocol2 = devpThread.getStation().get(staNo);
//                if (staProtocol2 == null) {
//                    News.infoNoLog(" - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
//                    continue;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
//                if (staDetl2 == null) {
//                    News.error(" - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
//                    continue;
//                }
//                if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) || (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
//                    //当连续取货站点为相同类型时才能连续取
//                    wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
//                }
//
//            }
            if(rgvProtocol.getTaskNo2() > 9999 && staProtocol.getWorkNo() < 10000){
                continue;
            }
@@ -4543,21 +4550,21 @@
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){

                if(wrkMastSta3 != null ){
                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
                    if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
                        wrkMastSta3.setMk(1);
                        basRgv.setPakAll("0");
                        basRgvService.updateById(basRgv);

                        try{
                            wrkMastStaMapper.updateById(wrkMastSta3);
                            log.error("锁定相隔站点任务");
                        }catch (Exception e){
                            log.error("锁定相隔站点任务失败");
                        }
                    }
                }
//                if(wrkMastSta3 != null ){
//                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
//                    if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
//                        wrkMastSta3.setMk(1);
//                        basRgv.setPakAll("0");
//                        basRgvService.updateById(basRgv);
//
//                        try{
//                            wrkMastStaMapper.updateById(wrkMastSta3);
//                            log.error("锁定相隔站点任务");
//                        }catch (Exception e){
//                            log.error("锁定相隔站点任务失败");
//                        }
//                    }
//                }
                basRgv.setPakOut("0");//出库不允许
                basRgvService.updateById(basRgv);
                rgvThread.setPaking(false);//任务下发锁定
@@ -4600,6 +4607,21 @@
            if (targetPosition == 1038) {
                System.out.println("小车下发命令时间：" +
                        new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));
            }
            EntityWrapper<BasRgvOpt> entityWrapper = new EntityWrapper<>();
            entityWrapper.eq("rgv_no", rgvId)
                    .orderBy("send_time");  // 按 send_time 降序排列
            BasRgvOpt basRgvOpt = basRgvOptService.selectOne(entityWrapper);
            // 防止重复下发命令
            if (basRgvOpt != null) {
                // 获取最新记录的 mode 对应的任务类型
                RgvTaskStatusType latestTaskStatus = RgvTaskStatusType.valueOf(basRgvOpt.getMode());
                // 判断当前命令与最新记录是否相同
                if (latestTaskStatus != null && latestTaskStatus == type && basRgvOpt.getPosSta().equals(wrkMastSta.getWorkSta())) {
                    // 如果最新记录的 mode 和 posSta 与当前命令相同，认为是重复命令
                    log.error("命令重复下发，当前命令与最新记录相同，任务不下发！");
                    return false;
                }
            }

            rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
@@ -5129,11 +5151,11 @@
                    String barcode = locMastEnd.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
                            armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
                            log.error( "取货条码为空", basArm.getStaNoSou());
                            continue;
                        }
                    } else {
                        armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
                        log.error( "取货条码为空", basArm.getStaNoSou());
                        continue;
                    }

@@ -5397,6 +5419,7 @@
                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(staProtocol.getWorkNo().toString());
                            param.setIoType(1);
                            param.setOutArea(wrkMast.getCtnKind());
                            param.setSourceStaNo(outStaAgv.getStaNo());
                            param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
@@ -5455,6 +5478,7 @@
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(1);
                        param.setOutArea(wrkMast.getCtnKind());
                        param.setSourceStaNo(outStaAgv.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()