#

luxiaotao1123

2020-08-11 e83ed4d170a69677fe9d0bb91a12035b7b056cfa

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

@@ -515,10 +515,13 @@
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {

                        // 命令下发区 -------------------------------------------------------------------------
                        // 复位
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(3, new CrnCommand()))) {
                            log.error("堆垛机复位命令下发失败，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }


            }


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

@@ -6,6 +6,7 @@
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
@@ -50,10 +51,20 @@
                    case 2:
                        write((CrnCommand) task.getData());
                        break;
                    case 3:
                        break;
                    // 复位
                    case 4:
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
                        command.setSourcePosZ((short)0);     // 源库位层
                        command.setDestinationPosX((short)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    default:
                        break;