#堆垛机出入库

zjj

2023-11-22 69a038efa3f87afa1eaf465cfb05d7d226fc206e

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

@@ -343,12 +343,13 @@
                    crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                    crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                    crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位排
                    crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位列
                    crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getBay().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getLev().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getRow().shortValue());     // 目标库位层
                    crnCommand.setCommand((short)1);
                    if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), 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 {
@@ -438,7 +439,7 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
                if (taskWrk == null) {
@@ -446,7 +447,7 @@
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
                if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2)) {
                    taskWrk.setWrkSts(4);
                } else {
                    continue;