#

Junjie

2023-09-26 ecf6751573f564ff53d2595fbfabb01b2e630a7b

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

@@ -236,16 +236,16 @@
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);

                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
//                            // plc 处理
//                            barcodeThread.setBarcode("");
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                throw new CoolException("更新plc站点信息失败");
//                            }

                            // 判断重复工作档
                            WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -267,10 +267,10 @@
                            }
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 700) {
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setRollback102(1);//102站回退信号
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setRollback102(1);//102站回退信号
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

                            // led 异常显示
                            if (ledThread != null) {
@@ -873,7 +873,7 @@
                return false;//找不到站点
            }

            if (liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray()) {
            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
                return false;//站点必须自动、空闲、没有托盘
            }

@@ -1286,7 +1286,6 @@
                    && liftProtocol.getTaskNo() != 0
                    && !liftProtocol.getBusy()
            ) {
                boolean clearTaskNoFlag = false;//清零工作号标记
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
@@ -1311,17 +1310,11 @@
                            break;
                        case 106://106.提升机搬运中 ==> 107.提升机搬运完成
                            wrkMast.setWrkSts(107L);
//                            //清零工作号
//                            clearTaskNoFlag = true;
                            break;
                        default:
                    }

                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        if (clearTaskNoFlag) {
                            //清零工作号
                            MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(4, null));
                        }
                        //设置提升机为空闲状态
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务指令清零
@@ -1330,8 +1323,19 @@
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                    }
                }else {
                    LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
                    if (assignCommand != null) {
                        if (!assignCommand.getAuto()) {
                            //手动操作
                            //设置提升机为空闲状态
                            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                            //任务指令清零
                            liftProtocol.setAssignCommand(null);
                            News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
                        }
                    }
                }

            }
        }
    }
@@ -1912,14 +1916,14 @@
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
//                            // 更新站点信息 且 下发plc命令
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                throw new CoolException("更新plc站点信息失败");
//                            }
                        } else {
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
@@ -2236,7 +2240,8 @@
                }
            } else if (wrkCharge.getWrkSts() == 52) {
                //检测小车是否满电
                if (shuttleProtocol.getPowerPercent() < 100) {
                int maxPower = 85;
                if (shuttleProtocol.getPowerPercent() < maxPower) {
                    continue;
                }

@@ -2259,14 +2264,17 @@
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                }
            } else if (wrkCharge.getWrkSts() == 53) {
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
                if (!result) {
                    continue;
                if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
                    boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
                    if (result) {
                        wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
                        wrkCharge.setModiTime(new Date());
                        if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                            shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                            shuttleProtocol.setTaskNo(0);
                        }
                    }
                }

                wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
                wrkCharge.setModiTime(new Date());
                wrkChargeMapper.updateById(wrkCharge);
            }

        }
@@ -2489,6 +2497,7 @@
                assignCommand.setLiftNo(liftProtocol.getLiftNo());
                assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
                assignCommand.setAuto(false);

                wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
                wrkMast.setModiTime(now);