#

Junjie

18 小时以前 27836d1b0bc74a5aa22a8b6c7cf40f2d0068db8a

 src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java

@@ -154,23 +154,27 @@

        boolean send = false;
        if (station == 1) {
            if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
                    send = true;
                }
            } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                    send = true;
            if (crnProtocol.getTaskSend() == 0) {
                if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                    if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
                        send = true;
                    }
                } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                    if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        send = true;
                    }
                }
            }
        }else {
            if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
                    send = true;
                }
            } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                    send = true;
            if (crnProtocol.getTaskSendTwo() == 0) {
                if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                    if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
                        send = true;
                    }
                } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                    if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        send = true;
                    }
                }
            }
        }
@@ -316,6 +320,7 @@
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setTaskReceive(crnStatus.getTaskReceive());
        crnProtocol.setTaskSend(crnStatus.getTaskSend());

        //工位2
        crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
@@ -323,6 +328,7 @@
        crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
        crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
        crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());
        crnProtocol.setTaskSendTwo(crnStatus.getTaskSendTwo());

        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
@@ -485,10 +491,10 @@
    }

    @Override
    public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
    public DualCrnCommand getResetCommand(Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 任务模式:  确认
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列