#

lsh

2024-06-11 2972d6852385b3c3efb64e10a736657833a39e53

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

@@ -32,6 +32,7 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.cpmmandParam.CrnCommandParam;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
@@ -1697,8 +1698,6 @@
                            && crnProtocol.getTaskNo() == 0
                            && crnProtocol.getLoaded() == 0
                            && crnProtocol.getForkPos() == 0) {
//                        sign[0] = 1;
//                        sign[1] = 1;
                        /*
                        * 任务拆分特殊处理
                        * */
@@ -1709,16 +1708,10 @@
                            sign[0] = 1;
                            sign[1] = 1;
                        }
                    }else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                            && crnProtocol.getTaskNoTwo() == 0
                            && crnProtocol.getLoadedTwo() == 0
                            && crnProtocol.getForkPosTwo() == 0){
                        sign[0] = 1;
                        sign[1] = 2;
                    }
                }

                if (sign[0]==1 && sign[1] == 1){
                if (sign[0]==1){
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
@@ -3073,47 +3066,93 @@
//                        return;
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
                    wrkMastSplitTwin.setWrkSts(1);
                    wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
                    wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
                    wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
                    wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
                    wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
                    wrkMastSplitTwin.setEndRow(crnStn.getRow());
                    wrkMastSplitTwin.setEndBay(crnStn.getBay());
                    wrkMastSplitTwin.setEndLev(crnStn.getLev());
                    wrkMastSplitTwin.setWrkType(1);
                    wrkMastSplitTwin.setIoType(2);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                if (true){
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast.setWrkSts(12L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
                        wrkMastSplitTwin.setWrkSts(1);
                        wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
                        wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
                        wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
                        wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
                        wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
                        wrkMastSplitTwin.setEndRow(crnStn.getRow());
                        wrkMastSplitTwin.setEndBay(crnStn.getBay());
                        wrkMastSplitTwin.setEndLev(crnStn.getLev());
                        wrkMastSplitTwin.setWrkType(1);
                        wrkMastSplitTwin.setIoType(2);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }

                    if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
                        log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                        if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
                            log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                        }
                        break;
                    }
                    break;
                }
//                else {
//                    // 1.堆垛机开始移动
//                    CrnCommandParam crnCommandParam = new CrnCommandParam();
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
//                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
//                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
//                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
//                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast.setWrkSts(12L);
//                        wrkMast.setCrnStrTime(now);
//                        wrkMast.setModiTime(now);
//                        WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
//                        wrkMastSplitTwin.setWrkSts(1);
//                        wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
//                        wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
//                        wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
//                        wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
//                        wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
//                        wrkMastSplitTwin.setEndRow(crnStn.getRow());
//                        wrkMastSplitTwin.setEndBay(crnStn.getBay());
//                        wrkMastSplitTwin.setEndLev(crnStn.getLev());
//                        wrkMastSplitTwin.setWrkType(1);
//                        wrkMastSplitTwin.setIoType(2);
//                        if (wrkMastMapper.updateById(wrkMast) == 0) {
//                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                        }
//
//                        if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
//                            log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
//                        }
//                        break;
//                    }
//                }
            }
        }