From 6dcb479b81e65d63ceb2f9fae4eb1631e4ace029 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期二, 22 三月 2022 17:27:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 55 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 53 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 245d1d0..b10616d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -553,6 +553,57 @@
}
/**
+ * 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
+ */
+ public void crnRebackHp(){
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(crn.getId()) != null) {
+ continue;
+ }
+
+ //鍫嗗灈鏈烘湁鎵ц涓换鍔★紝杩囨护
+ if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
+ continue;
+ }
+
+ //杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�
+ if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
+ continue;
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 1); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
+ crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crn.getId(), JSON.toJSON(crnCommand));
+ }
+ }
+ }
+ }
+
+ /**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
*/
public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
@@ -835,7 +886,7 @@
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectLocMoving(slave.getId()) != null) {
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
return;
}
@@ -1626,7 +1677,7 @@
devpThread.ioMode = IoModeType.PAKOUT_BOOTING;
WrkMast pakin = wrkMastMapper.selectWorkingPakin();
- if (pakin == null && !devpThread.getStation().get(201).isLoading() && !devpThread.getStation().get(202).isLoading()) {
+ if (pakin == null) {
// 鍑哄簱妯″紡
devpThread.ioMode = IoModeType.PAKOUT_MODE;
}
--
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