1

zhang

2025-09-26 ddf6cc8d9132045dbe77b219a4b5ad3f22066dda

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

@@ -1366,7 +1366,7 @@
                    crnCommand.setPltType(crnStation);
                    crnCommand.setTaskNo(wrkMast.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.setTaskMode(CrnTaskModeType.TAKE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
@@ -1394,7 +1394,7 @@
    }

    /**
     * 出库取货
     * 出库放货
     */
    public synchronized void outPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
@@ -1494,6 +1494,11 @@
                        }
                    }

                    if (wrkMastMapper.selectByPltType(slave.getId(), wrkMast.getPltType()) == null) {
                        News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", wrkMast.getPltType());
                    }


                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
@@ -1510,7 +1515,7 @@
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.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.setTaskMode(CrnTaskModeType.PUT); // 任务模式:  库位移转
//                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
//                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
//                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
@@ -2661,13 +2666,14 @@
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    if (shallowLoc.getRow1() == 1 && row == 1) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                    } else if (shallowLoc.getRow1() == 29 && row == 29) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                    if (shallowLoc.getBay1() == 1) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
                    } else if (shallowLoc.getRow1() == 29) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
                    } else {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    }


                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -2686,10 +2692,10 @@
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        if (shallowLoc.getRow1() == 1 && row == 1) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                        } else if (shallowLoc.getRow1() == 29 && row == 29) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                        if (shallowLoc.getBay1() == 1) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
                        } else if (shallowLoc.getRow1() == 29) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
                        } else {
                            loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                        }