*

lsh

2025-03-16 fa4ce5f4818a257515b2a06301a4461cab651c70

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

@@ -529,10 +529,10 @@
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

                    if (wrkMast == null) {
                    if (wrkMast == null || !wrkMast.getSheetNo().equals("3")) {
                        continue;
                    }
                    if (staProtocol.isEmptyMk()){
@@ -572,12 +572,12 @@
                                    .doPost();
                        } catch(Exception e){
                            log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
                            e.printStackTrace();
//                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
//                            e.printStackTrace();
                            continue;
                        }
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
//                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
//                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
                        if(response.equals("")) {
                            continue;
                        }
@@ -585,35 +585,35 @@
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
                            } else {
//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
//                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
//                            } else {
                                log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
                                try {
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
                                } catch (Exception e) {
                                    log.error("盘点再入库失败===>>" + e);
                                    e.printStackTrace();
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                }
                            }
//                                try {
//                                    // 更新站点信息 且 下发plc命令
//                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocol.setStaNo(dto.getStaNo());
//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
////                                    ledThread.errorReset();
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    if (!result) {
//                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                                    }
//                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
//                                } catch (Exception e) {
//                                    log.error("盘点再入库失败===>>" + e);
//                                    e.printStackTrace();
//                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                                }
//                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        log.error("stnToCrnStnPick2===>>fail", e);
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

//                    // 获取目标站
@@ -862,9 +862,25 @@
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                    if (wrkMast == null) {
//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
//                    if (wrkMast == null) {
//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
//                            if (Cools.isEmpty(wrkMastSta)){
//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
//                                wrkMastSta1.setType(2);
//                                wrkMastSta1.setWrkType(1);
//                                wrkMastStaMapper.insert(wrkMastSta1);
//                            }
//                        }
//                    }
//                } else
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null || wrkMast.getSheetNo().equals("3")) {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
@@ -3151,7 +3167,7 @@
    }

    /**
     * 其他  ===>> 码垛完成驱动托盘进入下一步
     * 其他  ===>> 码垛完成驱动托盘进入下一步  2===》3
     */
    public synchronized void stackingCompletionDriveTrayOk2() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -3167,7 +3183,7 @@
                    staProtocol = staProtocol.clone();
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0) {//
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

                    if (wrkMast == null) {
@@ -3180,7 +3196,7 @@
                    }
                    if (wrkMast.getIoType()==101){
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                        wrkMast.setSheetNo("3");
                        wrkMastMapper.updateById(wrkMast);
                    }else {
@@ -3189,17 +3205,17 @@
                            continue;
                        }
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                        wrkMast.setSheetNo("3");
                        wrkMastMapper.updateById(wrkMast);

                        try{
                            Thread.sleep(100);
                        }catch (Exception e){
//                        try{
//                            Thread.sleep(100);
//                        }catch (Exception e){
//
//                        }

                        }

                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
//                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));

                    }
                }
@@ -3484,7 +3500,7 @@
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -3520,7 +3536,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -3547,7 +3563,7 @@
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -3578,7 +3594,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());