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luxiaotao1123

2022-03-22 6dcb479b81e65d63ceb2f9fae4eb1631e4ace029

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

@@ -553,6 +553,57 @@
    }

    /**
     * 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 void crnRebackHp(){
        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;
            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crn.getId()) != null) {
                    continue;
                }

                //堆垛机有执行中任务，过滤
                if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
                    continue;
                }

                //输送线没有入库任务，过滤
                if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
                    continue;
                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 1); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 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, crn.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crn.getId(), JSON.toJSON(crnCommand));
                }
            }
        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
@@ -835,7 +886,7 @@
        }

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

@@ -1626,7 +1677,7 @@
                        devpThread.ioMode = IoModeType.PAKOUT_BOOTING;

                        WrkMast pakin = wrkMastMapper.selectWorkingPakin();
                        if (pakin == null && !devpThread.getStation().get(201).isLoading() && !devpThread.getStation().get(202).isLoading()) {
                        if (pakin == null) {
                            // 出库模式
                            devpThread.ioMode = IoModeType.PAKOUT_MODE;
                        }