#

lty

9 天以前 0abdc233da90c5cce79655563e7bee4e5c83141b

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

@@ -944,7 +944,7 @@
            // 库位移转
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol, mark);
//            this.crnRebackHp(crnProtocol, crnThread);
            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -967,7 +967,7 @@
//                continue;
//            }
        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
            if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
            if (crnProtocol.getBay() == 121) {
                return;
            }

@@ -985,16 +985,17 @@
            if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                return;
            }
            if(crnProtocol.getCrnNo() == 1){
            News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
            crnCommand.setTaskNo((short) 9999); // 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.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 1);     // 源库位排
                crnCommand.setSourcePosY((short) 121);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 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
@@ -1002,6 +1003,8 @@
                News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
            }
            crnThread.setBackHpFlag(true);
            }

        }
//        }
    }
@@ -1212,7 +1215,8 @@
//                 && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()
                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing()) {
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1520,6 +1524,18 @@
            if (crnProtocol == null) {
                continue;
            }
            if(crnProtocol.getTaskNo() == 9999){
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());



                // 堆垛机复位
                News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                crnThread.setResetFlag(true);
                }
            }else{
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
@@ -1547,6 +1563,8 @@
                    crnThread.setResetFlag(true);
                }
            }
            }



        }