对照协议调整

zhangchao

2024-08-31 bb60ce59bdc61ff4a88a162760827ce3b0708f61

对照协议调整

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

@@ -100,7 +100,7 @@
            return (short) 2;
        } else if (bay == 5) {
            return (short) 1;
        }else {
        } else {
            return (short) 0;
        }
    }
@@ -815,14 +815,32 @@
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            Short workMode = getWorkMode(locMast.getBay1());
            if (workMode == 2) {
                //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
                crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
                crnCommand.setSourcePosXTwo(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosYTwo(crnStn.getBay().shortValue());     // 源库位列
                crnCommand.setSourcePosZTwo(crnStn.getLev().shortValue());     // 源库位层
                crnCommand.setDestinationPosXTwo(locMast.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosYTwo(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZTwo(locMast.getLev1().shortValue());     // 目标库位层
            } else {
                if (workMode == 1) {
                    crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
                } else if (workMode == 3) {
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
                }
                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(locMast.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            }
//            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(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层


            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -978,14 +996,30 @@
                    CrnCommand crnCommand = new CrnCommand();
                    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.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    Short workMode = getWorkMode(sourceSta.getBay1());
                    if (workMode == 2) {
                        //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
                        crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
                        crnCommand.setSourcePosXTwo(sourceSta.getRow1().shortValue());     // 源库位排
                        crnCommand.setSourcePosYTwo(sourceSta.getBay1().shortValue());     // 源库位列
                        crnCommand.setSourcePosZTwo(sourceSta.getLev1().shortValue());     // 源库位层
                        crnCommand.setDestinationPosXTwo(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosYTwo(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZTwo(crnStn.getLev().shortValue());     // 目标库位层
                    } else {
                        if (workMode == 1) {
                            crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
                        } else if (workMode == 3) {
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
                        }
                        crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    }

                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
@@ -1172,14 +1206,30 @@
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
        Short workMode = getWorkMode(sourceSta.getBay1());
        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(sourceSta.getRow1().shortValue());     // 源库位排
        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
        crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        if (workMode == 2) {
            //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
            crnCommand.setSourcePosXTwo(sourceSta.getRow1().shortValue());     // 源库位排
            crnCommand.setSourcePosYTwo(sourceSta.getBay1().shortValue());     // 源库位列
            crnCommand.setSourcePosZTwo(sourceSta.getLev1().shortValue());     // 源库位层
            crnCommand.setDestinationPosXTwo(sta.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosYTwo(sta.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZTwo(sta.getLev1().shortValue());     // 目标库位层
        } else {
            if (workMode == 1) {
                crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
            } else if (workMode == 3) {
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
            }
            crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        }

        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            News.error("" + mark + " - 3" + " - 4" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {