#

luxiaotao1123

2022-03-22 0b43805ff248a192570859e2e75c6f4d4b3a816a

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

@@ -89,8 +89,6 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${crnBackHp.enable}")
    private boolean crnBackHp;

    /**
     * 组托
@@ -551,51 +549,56 @@
            }
            // 库位移转
            this.locToLoc(crn, crnProtocol);

            if (crnBackHp) {
                //堆垛机没有执行中任务，设备存在入库任务时叫回原点
                this.crnRebackHp(crn, crnProtocol);
            }
        }
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     * @param slave
     * @param crnProtocol
     */
    public void crnRebackHp(CrnSlave slave, CrnProtocol crnProtocol){
        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                return;
    public void crnRebackHp(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            //堆垛机有执行中任务，过滤
            if (wrkMastMapper.selectCrnWorking(slave.getId()) != null) {
                return;
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crn.getId()) != null) {
                    return;
                }

            //输送线没有入库任务，过滤
            if (wrkMastMapper.selectDevWorking(slave.getId()) == null) {
                return;
            }
                //堆垛机有执行中任务，过滤
                if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
                    return;
                }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo((short) 1); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) 0);     // 源库位排
            crnCommand.setSourcePosY((short) 0);     // 源库位列
            crnCommand.setSourcePosZ((short) 0);     // 源库位层
            crnCommand.setDestinationPosX((short) 0);     // 目标库位排
            crnCommand.setDestinationPosY((short) 0);     // 目标库位列
            crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSON(crnCommand));
            } else {
                //输送线没有入库任务，过滤
                if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 1); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crn.getId(), JSON.toJSON(crnCommand));
                }
            }
        }
    }