#

lty

2025-07-18 5caa5aca98fb035f263ba7f2777722237e2b5eb4

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

@@ -967,6 +967,13 @@
                if (crnProtocol.getBay() == 121) {
                    return;
                }
                int x=1;
                switch (crnProtocol.getCrnNo()){
                    case 1: x =1; break;
                    case 2: x =3; break;
                    case 3: x =5; break;
                    case 4: x =7; break;
                }

                // 已经存在吊车执行任务时，则过滤3,12
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
@@ -979,7 +986,7 @@
                }

                //输送线没有入库任务，过滤2
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                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");
@@ -989,9 +996,9 @@
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 1);     // 源库位排
                crnCommand.setSourcePosX((short) x);     // 源库位排
                crnCommand.setSourcePosY((short) 121);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setSourcePosZ((short) 2);     // 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
@@ -1002,6 +1009,13 @@
            }
        } else {
            int y = 1; // 默认列
            int x=1;
            switch (crnProtocol.getCrnNo()){
                case 1: x =1; break;
                case 2: x =3; break;
                case 3: x =5; break;
                case 4: x =7; break;
            }
            int staNoInt = Integer.parseInt(staNo);

            int z = staNoInt / 100; // 层
@@ -1025,10 +1039,6 @@
                    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
@@ -1037,7 +1047,7 @@
                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.setSourcePosX((short) x); // 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);