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lsh

3 天以前 830f5f93c11b16a1014e2bf815c43af9c16eb52b

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

@@ -941,41 +941,6 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                    if (taskWrkNow3.getWrkSts() == 3){
                        try{
                            // 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                            crnCommand.setTaskNo(taskWrkNow3.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(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRowShort(taskWrkNow3.getTargetPoint()));     // 目标库位列
                            int bay1 = Utils.getBayShort(taskWrkNow3.getTargetPoint()) + 1;
                            crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                            crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrkNow3.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+crnCommand.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(crnCommand.getNowTask()));
                            } catch (Exception e2){
                            }
                            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));
                                devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                                throw new CoolException("堆垛机命令生成失败");
                            }
                        } catch (Exception eNow3){

                        }
                    }

                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
@@ -1024,22 +989,22 @@
//                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                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(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                CrnCommand crnCommand1 = new CrnCommand();
                crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand1.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand1.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand1.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand1.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
                crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand1.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
//                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));
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

@@ -1153,39 +1118,6 @@

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {

                            TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                            if (taskWrkNow3.getWrkSts() == 12){
                                try{
                                    CrnCommand command = new CrnCommand();
                                    command.setCrnNo(slave.getId()); // 堆垛机编号
                                    command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
                                    command.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 工作号
                                    command.setAckFinish((short) 0);  // 任务完成确认位
                                    command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
                                    command.setSourcePosX(Utils.getRowShort(taskWrkNow3.getStartPoint()));     // 源库位排
                                    int bayS = Utils.getBayShort(taskWrkNow3.getStartPoint()) + 1;
                                    command.setSourcePosY((short)bayS);     // 源库位列
                                    command.setSourcePosZ(Utils.getLevShort(taskWrkNow3.getStartPoint()));     // 源库位层
                                    command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                                    command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                    command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                        command.setCommand((short) 1);
                                    try{
                                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(command.getNowTask()));
                                    } catch (Exception e2){
                                    }
                                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                                        log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                                        devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                                        throw new CoolException("堆垛机命令生成失败");
                                    }
                                } catch (Exception eNow3){

                                }
                            }
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
@@ -1312,6 +1244,7 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }