fix

业务工程/分拣库/WCS.Entity.Protocol/Station/IStation524.cs

@@ -35,7 +35,7 @@ namespace WCS.Entity.Protocol.Station
         /// 指令回复
         /// </summary>
         [Description("指令回复")]
-        short CmdType { get; set; }
+        StationCmd CmdType { get; set; }
 
         /// <summary>
         /// 凭证号 每次累加

业务工程/分拣库/WCS.Entity.Protocol/Station/StationEnum.cs

@@ -413,7 +413,7 @@ namespace WCS.Entity.Protocol.Station
         Res6 = 1 << 6,
 
         /// <summary>
-        /// 备用
+        ///   机械臂取货信号，此信号上位不写入，只由PLC写入
         /// </summary>
         [Description("备用")]
         Res7 = 1 << 7,

业务工程/分拣库/WCS.WorkEngineering/Systems/环形库/机械臂cs.cs

@@ -9,8 +9,6 @@ using WCS.Entity.Protocol.Protocol.Robot;
 using WCS.Entity.Protocol.Robot;
 using WCS.Entity.Protocol.Station;
 using WCS.WorkEngineering.Extensions;
-using WCS.WorkEngineering.WebApi.Controllers;
-using WCS.WorkEngineering.WebApi.Models.WMS.Response;
 using WCS.WorkEngineering.Worlds.环形库.环形库;
 using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
 using TaskStatus = WCS.Entity.TaskStatus;
@@ -165,9 +163,9 @@ namespace WCS.WorkEngineering.Systems
                 var arrIn = pickUpDevices.Where(x => x.Item2.All(a => !a.Data.Status.HasFlag(StationStatus.Run)))
                                                       .Where(x =>
                                                       {
-                                                          var a = x.Item2.Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status));
-                                                          var b = x.Item2.OrderBy(o => o.Entity.Code.ToShort()).First();
-                                                          return b.Data2.TaskNumber > 0 && b.Data.Status.HasFlag(StationStatus.PH_Status) && a;
+                                                          var inStock = x.Item2.Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status));
+                                                          var minDevice = x.Item2.OrderBy(o => o.Entity.Code.ToShort()).First();
+                                                          return minDevice.Data2.TaskNumber > 0 && minDevice.Data.Status.HasFlag(StationStatus.PH_Status) && minDevice.Data2.CmdType.HasFlag(StationCmd.Res7) && inStock;
                                                       }).ToList();
                 //.OrderBy(x => x.Item1.Data2.TaskNumber)
 
@@ -185,7 +183,7 @@ namespace WCS.WorkEngineering.Systems
                     //跟据设备组中第一个设备任务号最小的一个先执行
                     var devGroup = arrIn.MinBy(x => x.Item1.Data2.TaskNumber).Item2
                         .Where(x => x.Data2.TaskNumber > 0 && x.Data.Status.HasFlag(StationStatus.PH_Status));
-                
+
                     if (!devGroup.Any())
                     {
                         obj.Entity.SetFlag("InQuantity", 4); //在无有效取货位的情况下，只检查一次，下次直接查询是否有出库任务,避免无效检查周期的产生
@@ -196,7 +194,7 @@ namespace WCS.WorkEngineering.Systems
                     {
                         var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.Type == TaskType.SetPlate && v.Status == Entity.TaskStatus.FinishOfShunt && dev.Data2.TaskNumber == v.ID);
                         if (task == null) continue;
-                       
+
                         task.Status = Entity.TaskStatus.StackerExecution;
                         task.LastInteractionPoint = dev.Entity.Code;
                         task.SrmStation = dev.Entity.Code;
@@ -498,4 +496,4 @@ namespace WCS.WorkEngineering.Systems
             return dev.Code is "Robot1" or "Robot2" or "Robot3" or "Robot4" or "Robot5" or "Robot6";
         }
     }
-}
+}