#

cpT

8 天以前 463b9e4b68b8ab62a11c6985081fd5d62692cc79

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

@@ -67,7 +67,7 @@
                try {
                    deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                    readStatus();
                    Thread.sleep(100);
                    Thread.sleep(50);
                } catch (Exception e) {
                    log.error("DualCrnThread Fail", e);
                }
@@ -92,6 +92,7 @@
                        map.put("commands", commandList);
                        map.put("idx", 1);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + command.getTaskNo(), JSON.toJSONString(map, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_STATION_TASK_NO.key + crnProtocol.getCrnNo() + "_" + command.getStation(), command.getTaskNo(), 60 * 60 * 24);
                        sendCommand(command);
                    } else if (step == 3) {
                        sendCommand((DualCrnCommand) task.getData());
@@ -123,8 +124,18 @@
                        }
                    }

                    if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus() == DualCrnStatusType.IDLE.id) {
                        Integer taskNo = crnProtocol.getTaskNo();
                    if(crnProtocol.getTaskNo() == 0 && crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        Integer taskNo = null;
                        Object stationObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_STATION_TASK_NO.key + crnProtocol.getCrnNo() + "_" + 1);
                        if(stationObj != null) {
                            taskNo = Integer.parseInt(String.valueOf(stationObj));
                        }

                        if (taskNo == null) {
                            News.error("双工位堆垛机，工位1空闲等待下发命令，但未找到工作号。堆垛机号={}", crnProtocol.getCrnNo());
                            continue;
                        }

                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位1空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
@@ -181,8 +192,18 @@
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo, commandMap.toJSONString(), 60 * 60 * 24);
                    }

                    if(crnProtocol.getTaskNoTwo() > 0 && crnProtocol.getStatusTwo() == DualCrnStatusType.IDLE.id) {
                        Integer taskNo = crnProtocol.getTaskNoTwo();
                    if(crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        Integer taskNo = null;
                        Object stationObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_STATION_TASK_NO.key + crnProtocol.getCrnNo() + "_" + 2);
                        if(stationObj != null) {
                            taskNo = Integer.parseInt(String.valueOf(stationObj));
                        }

                        if (taskNo == null) {
                            News.error("双工位堆垛机，工位1空闲等待下发命令，但未找到工作号。堆垛机号={}", crnProtocol.getCrnNo());
                            continue;
                        }

                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位2空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
@@ -251,13 +272,13 @@
        crnProtocol.setLiftPosTwo(0);

        crnProtocol.setAlarm(0);
        crnProtocol.setXSpeed(0);
        crnProtocol.setYSpeed(0);
        crnProtocol.setZSpeed(0);
        crnProtocol.setXDistance(0);
        crnProtocol.setYDistance(0);
        crnProtocol.setXDuration(0);
        crnProtocol.setYDuration(0);
        crnProtocol.setXSpeed(0D);
        crnProtocol.setYSpeed(0D);
        crnProtocol.setZSpeed(0D);
        crnProtocol.setXDistance(0D);
        crnProtocol.setYDistance(0D);
        crnProtocol.setXDuration(0D);
        crnProtocol.setYDuration(0D);

        BasDualCrnpService basDualCrnpService = null;
        try {
@@ -430,6 +451,9 @@
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PICK.id); // 任务模式:  取货
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
@@ -444,6 +468,9 @@
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PUT.id); // 任务模式:  放货
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
@@ -458,6 +485,9 @@
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层