#

cpT

8 天以前 70c104c001de0c586b0d468a30729a9a944560ef

 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);
                }
@@ -123,7 +123,7 @@
                        }
                    }

                    if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus() == DualCrnStatusType.IDLE.id) {
                    if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        Integer taskNo = crnProtocol.getTaskNo();
                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
@@ -251,13 +251,13 @@
        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 +430,9 @@
        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 +447,9 @@
        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 +464,9 @@
        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