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zwl

2 天以前 ec3fa1a4209062eb95388d19474dd8b5a3ac9c0f

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 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -172,7 +172,7 @@
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getResetCommand(crnNo);
        CrnCommand command = crnThread.getResetCommand(crnNo, 9999);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

 src/main/java/com/zy/core/enums/CrnTaskModeType.java

@@ -6,12 +6,11 @@
    PAKIN(1),    // 入库
    PAKOUT(2),    // 出库
    LOC_MOVE(3),    // 库位移转
    X_MOVE(4),    // 站位移转
    Y_MOVE(5),    // 站位移转
    XY_MOVE(6),    // 站位移转
    CRN_MOVE(7),    // 堆垛机移动XYZ
    CRN_MOVE(4),    // 堆垛机移动XYZ
    BACK_ORIGIN(8),      // 回反原点
    CLEAR(9),       // 清错
    RESET(5),       // 复位
    ;

    public Integer id;

 src/main/java/com/zy/core/network/real/ZyCrnRealConnect.java

@@ -10,6 +10,7 @@
import com.zy.asrs.entity.DeviceConfig;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.network.api.ZyCrnConnectApi;
@@ -132,10 +133,17 @@
                return response;
            }

            Integer commandTaskNo = command.getTaskNo();
            Integer commandTaskMode = command.getTaskMode();
            if (commandTaskMode.equals(CrnTaskModeType.RESET.id)) {
                commandTaskNo = 0;
                commandTaskMode = 0;
            }

            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = command.getTaskNo().shortValue();
            array[2] = command.getTaskMode().shortValue();
            array[1] = commandTaskNo.shortValue();
            array[2] = commandTaskMode.shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();

 src/main/java/com/zy/core/plugin/FakeProcess.java

@@ -792,7 +792,7 @@
                wrkMast.setWeight(Cools.isEmpty(crnProtocol.getWeight()) ? 11.11 : crnProtocol.getWeight());
                wrkMast.setIoTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo(), crnProtocol.getTaskNo());
                    MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
                    News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                }

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

@@ -13,7 +13,7 @@

    CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo);//移动

    CrnCommand getResetCommand(Integer crnNo);//复位
    CrnCommand getResetCommand(Integer taskNo, Integer crnNo);//复位

    CommandResponse sendCommand(CrnCommand command);//下发命令


 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -290,12 +290,12 @@
    }

    @Override
    public CrnCommand getResetCommand(Integer crnNo) {
    public CrnCommand getResetCommand(Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setAckFinish(1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 任务模式
        crnCommand.setTaskMode(CrnTaskModeType.RESET.id); // 任务模式
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -652,7 +652,7 @@
                wrkMast.setIoTime(new Date());
                wrkMast.setWeight(crnProtocol.getWeight());
                if (wrkMastService.updateById(wrkMast)) {
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo(), crnProtocol.getTaskNo());
                    if (i>-1){
                        resetCommand.setLocNo(locNo);
                        resetCommand.setIndex(i);