From 77ee4fbf68b83bf2ff0577d6751bbfbe85312f9f Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期三, 17 九月 2025 10:33:07 +0800
Subject: [PATCH] 堆垛机空闲10秒有入库任务回原点，空闲两分钟回原点
---
src/main/java/com/zy/service/impl/MainServiceImpl.java | 63 +++++++++++++++++++++++++++++++
src/main/java/com/zy/core/MainProcess.java | 3 +
2 files changed, 66 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index c6e96f0..64f353c 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -72,6 +72,9 @@
mainService.outOfDevp(11);
+ // 鍫嗗灈鏈哄洖鍘熺偣
+ mainService.originGo();
+
} catch (Exception e) {
e.printStackTrace();
}
diff --git a/src/main/java/com/zy/service/impl/MainServiceImpl.java b/src/main/java/com/zy/service/impl/MainServiceImpl.java
index 560ca8d..f823d8b 100644
--- a/src/main/java/com/zy/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/service/impl/MainServiceImpl.java
@@ -1594,4 +1594,67 @@
// News.infoNoLog(""+mark+" - 0"+" - outOfDevp鎵ц瀹屾垚");
}
+ /**
+ * 鍫嗗灈鏈哄洖鍘熺偣
+ */
+ public synchronized void originGo() throws InterruptedException {
+
+ 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;
+ }
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
+ && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
+ // 鍒ゆ柇鏄笉鏄凡鍦ㄥ師鐐�
+ if(crnProtocol.getBay() == 0 && crnProtocol.getLevel() == 1) {
+ continue;
+ }
+ // 鍒ゆ柇鏄笉鏄┖闂蹭笁鍒嗛挓
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp.getWrkNo() != 0) {
+ continue;
+ }
+ Date now = new Date();
+ Date modiTime = basCrnp.getModiTime();
+ long diffInMillis = now.getTime()-modiTime.getTime();
+ if(diffInMillis < 10 * 1000) { // 绌洪棽灏忎簬10绉掑垯璺宠繃
+ continue;
+ } else { // 鏈夊叆搴撲换鍔℃垨澶т簬2鍒嗛挓锛屽洖鍘熺偣
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", 1).eq("crn_no", crn.getId()).in("wrk_sts", 2, 9, 10));
+ if(count == 0 && diffInMillis < 2 * 60 * 1000) {
+ continue;
+ }
+ }
+
+ // 鏈夊悐杞﹀叆搴撴垨鍚婅溅鍑哄簱浠诲姟
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("crn_no", crnProtocol.getCrnNo()).in("wrk_sts", 3, 12));
+ if(count != 0) {
+ continue;
+ }
+
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+ crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
+ crnCommand.setSourcePosX((short) (crn.getId() == 1 ? 4 : crn.getId() == 2 ? 6 : crn.getId() == 3 ? 7 : 11)); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 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))) {
+ News.error("鍥炲師鐐逛换鍔′笅鍙戝け璐�", crn.getId(), JSON.toJSON(crnCommand));
+ } else {
+ basCrnp.setModiTime(new Date());
+ basCrnpService.updateById(basCrnp); // 璁剧疆鏇存柊鏃堕棿锛岄伩鍏嶉噸澶嶄笅鍙戝洖鍘熺偣
+ log.info("{}鍙峰爢鍨涙満鍥炲師鐐逛换鍔′笅鍙戞垚鍔燂細{}", crn.getId(), JSON.toJSON(crnCommand));
+ }
+ Thread.sleep(3000);
+ }
+ }
+ }
+
}
--
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