| | |
|---|
| | | // 移动中 |
|---|
| | | continue; |
|---|
| | | } |
|---|
| | | if (crnProtocol.getCrnNo()<=2){ |
|---|
| | | WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue()); |
|---|
| | | if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){ |
|---|
| | | wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue()); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | // 判断堆垛机状态等待确认 |
|---|
| | | if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) |
|---|
| | | && crnProtocol.statusType == CrnStatusType.WAITING |
|---|
| | |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 下发站点信息 |
|---|
| | | staProtocolOther.setWorkNo(wrkMast1.getWrkNo()); |
|---|
| | | staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther()); |
|---|
| | | staProtocolOther.setStaNo(wrkMast1.getStaNo()); |
|---|
| | | if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) { |
|---|
| | | continue; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 下发站点信息 |
|---|
| | | staProtocol.setWorkNo(wrkMast2.getWrkNo()); |
|---|
| | | staProtocol.setWorkNo(Cools.isEmpty(wrkMast2.getWorkNoOther())? wrkMast2.getWrkNo():wrkMast2.getWorkNoOther()); |
|---|
| | | // staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo())); |
|---|
| | | staProtocol.setStaNo(wrkMast2.getStaNo()); |
|---|
| | | if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { |
|---|
