联调

dubin

2025-08-25 e3a8ad51dd9f42c81557571a09dff3c108e844f1

联调

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

@@ -468,7 +468,7 @@
                // 退回
//                if (back) {
//                    log.info("errmsg: " + errMsg);
////                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    if (!staProtocol.isLoading()) {
//                        continue;
@@ -503,7 +503,7 @@
//
//
//                    if (!Cools.isEmpty(barcode)) {
////                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
@@ -520,7 +520,7 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
@@ -1544,7 +1544,10 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                if (crnProtocol.getTaskNo() == 9999){
                    crnThread.setResetFlag(true);
                    continue;
                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -1554,9 +1557,7 @@
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                } else if (wrkMast.getIoType()==120 && wrkMast.getWrkSts()==2){
                    wrkMast.setWrkSts(5L);
                }else {
                } else {
                    continue;
                }
                Date now = new Date();
@@ -1810,7 +1811,7 @@
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
@@ -3244,21 +3245,6 @@
                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                //生成回原点工作档  余姚锐麒
                WrkMast wrkMast=new WrkMast();
                wrkMast.setWrkNo(9999);//工作号
                wrkMast.setIoTime(new Date());
                wrkMast.setWrkSts(2L);//工作状态
                wrkMast.setIoType(120);//任务类型  120.堆垛机回原点
                wrkMast.setIoPri(13.0);//优先级
                wrkMast.setCrnNo(1);//堆垛机号
                wrkMast.setSourceStaNo(0);//源站
                wrkMast.setStaNo(0);//目标站
                wrkMast.setSourceLocNo("");//源库位
                wrkMast.setLocNo("");//目标库位
                if (wrkMastMapper.insert(wrkMast)==0){
                    throw new CoolException("保存工作档数据状态失败");
                }
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
//                if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
@@ -3278,7 +3264,7 @@
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务类型
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层

 src/main/java/com/zy/core/MainProcess.java

@@ -43,7 +43,7 @@
                    }

                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();

                    // 入出库模式切换函数
//                    mainService.ioConvert();
@@ -77,7 +77,7 @@
//                        News.info("输入成功");
//                    }
                    //堆垛机无任务回入库口待机
//                    mainService.crnMove();
                    mainService.crnMove();
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

@@ -86,8 +86,8 @@

                    if (i>10){
                        //空托盘自动出库
//                       mainService.autoEmptyOut();
//                     //空托盘自动入库
                       mainService.autoEmptyOut();
                     //空托盘自动入库
//                       mainService.autoEmptyIn();
                        i=0;
                    }