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luxiaotao1123

2022-09-20 0c2c0527a1a0bdf2440095a5616972cb4e2e9778

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

@@ -499,7 +499,7 @@
                    // 当前入库库位组没有小车 堆垛机则去站点取货入库
                    // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                    // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                    if (wrkMast.getWrkSts() == 2L || wrkMast.getWrkSts() == 6L) {
                    if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {

                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -1256,8 +1256,8 @@
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.setSourcePosX(steProtocol.getRow());     // 源库位排
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue());     // 目标库位排

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -44,6 +44,8 @@

    public static Integer getGroupRow(Integer row) {
        switch (row) {
            case 0:
                return 0;
            case 1:
            case 2:
            case 3:
@@ -76,55 +78,10 @@
        }
    }

    public static SteABType selectAB(Integer row) {
        switch (row) {
            case 1:
            case 2:
            case 3:
                return SteABType.B;
            case 4:
            case 5:
            case 6:
            case 7:
                return SteABType.A;
            case 8:
            case 9:
            case 10:
            case 11:
                return SteABType.B;
            case 12:
            case 13:
            case 14:
                return SteABType.A;
            case 15:
            case 16:
            case 17:
            case 18:
                return SteABType.B;
            case 19:
            case 20:
            case 21:
                return SteABType.A;
            default:
                throw new RuntimeException("库位解析异常");
        }
    }









    // -------------------------------------------------------------------------------------------------------------------










 src/main/java/com/zy/core/thread/SteThread.java

@@ -124,8 +124,9 @@
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                    steProtocol.setSteNo(slave.getId().shortValue());
                }
                steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
//                steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
                steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
                steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
                OperateResultExOne<Boolean> executeRes = siemensS7Net.ReadBool("V2001.0");