*

L

2025-07-12 40b31becdeba4d6b5b5bb070af54e1d4e4591333

*

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

@@ -3563,12 +3563,12 @@
                            continue;
                        }
                        if (wrkMastSta.getWrkSts()!=1){
                            if (wrkMastSta.getWrkType()==1 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                                if (!rgvComplete){
                                    log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                    break;
                                }
                            if (wrkMastSta.getWrkType()==3 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
//                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
//                                if (!rgvComplete){
//                                    log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                    break;
//                                }
                                rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo());
                                continue;
                            }
@@ -4671,7 +4671,7 @@
                                log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }

@@ -4998,6 +4998,11 @@
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setTaskNo1((short) 0); // 工作号
                rgvCommand.setAckFinish1((short) 1);  // 任务完成确认位
                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                rgvCommand.setSourceStaNo1((short)0);     // 源站
                rgvCommand.setDestinationStaNo1((short)0);     // 目标站
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
@@ -5020,6 +5025,11 @@
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setTaskNo1((short) 0); // 工作号
                rgvCommand.setAckFinish1((short) 1);  // 任务完成确认位
                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                rgvCommand.setSourceStaNo1((short)0);     // 源站
                rgvCommand.setDestinationStaNo1((short)0);     // 目标站
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点