zy-wcs.git - Gitblit

			@@ -828,7 +828,7 @@
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short) 1);
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			throw new CoolException("堆垛机命令生成失败");
			@@ -1056,7 +1056,7 @@
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -1541,46 +1541,6 @@
			Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
			List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			if (!sign) {
			// 筛选范围内取货任务
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther(rgvSlave)){
			if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
			@@ -1608,6 +1568,49 @@
			}
			}

			if(!sign){
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 筛选范围内取货任务
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}

			if (!sign) {
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {