#预调度移动

lty

9 天以前 14ae79f19df5920e53a43f90f01686dda426ebbc

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

@@ -952,7 +952,7 @@
            // 库位移转
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol, mark);
            this.crnRebackHp(crnProtocol, crnThread);
            this.crnRebackHp(crnProtocol, crnThread,null);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -961,19 +961,8 @@
    /**
     * 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
     */
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
//        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;
//            }
//            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;
//            }
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread,String staNo) {
        if(staNo == null){
        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
            if (crnProtocol.getBay() == 121) {
                return;
@@ -993,7 +982,6 @@
            if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                return;
            }
            if(crnProtocol.getCrnNo() == 1){
                News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
@@ -1012,7 +1000,54 @@
                }
                crnThread.setBackHpFlag(true);
            }
        } else {
            int y = 1; // 默认列
            int staNoInt = Integer.parseInt(staNo);

            int z = staNoInt / 100; // 层

            if ((staNoInt >= 121 && staNoInt <= 126) || (staNoInt >= 221 && staNoInt <= 230) || (staNoInt >= 411 && staNoInt <= 414)) {
                y = 121;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == y) {
                    return;
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                // 堆垛机有执行中任务
                if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                // 输送线没有入库任务
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }

                News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
                // 命令下发
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo());
                crnCommand.setTaskNo((short) 9999);
                crnCommand.setAckFinish((short) 0);
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);
                crnCommand.setSourcePosX((short) 1); // 默认排始终为1
                crnCommand.setSourcePosY((short) y); // 动态列
                crnCommand.setSourcePosZ((short) z); // 动态层
                crnCommand.setDestinationPosX((short) 0);
                crnCommand.setDestinationPosY((short) 0);
                crnCommand.setDestinationPosZ((short) 0);
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
            }
        }
//        }
    }