From 830f5f93c11b16a1014e2bf815c43af9c16eb52b Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 24 七月 2025 15:13:16 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   97 +++++++-----------------------------------------
 1 files changed, 15 insertions(+), 82 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 e9205b7..0462563 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -941,41 +941,6 @@
 
                 // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
                 if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
-                    TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
-                    if (taskWrkNow3.getWrkSts() == 3){
-                        try{
-                            // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-                            CrnCommand crnCommand = new CrnCommand();
-                            crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-                            crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
-                            crnCommand.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 宸ヤ綔鍙�
-                            crnCommand.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
-                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡:  搴撲綅绉昏浆
-                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
-                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
-                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 婧愬簱浣嶅眰
-                            crnCommand.setDestinationPosX(Utils.getRowShort(taskWrkNow3.getTargetPoint()));     // 鐩爣搴撲綅鍒�
-                            int bay1 = Utils.getBayShort(taskWrkNow3.getTargetPoint()) + 1;
-                            crnCommand.setDestinationPosY((short)bay1);     // 鐩爣搴撲綅灞�
-                            crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrkNow3.getTargetPoint()));     // 鐩爣搴撲綅鎺�
-//                crnCommand.setCommand((short) 1);
-                            try{
-                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
-                                deviceErrorService.addDeviceError("CrnErr", slave.getId(), "宸烽亾鍙�"+crnCommand.getLaneNo()+";鍫嗗灈鏈哄懡浠ゅ湴鍧�琛ヤ竵閲嶆柊鍐欏叆:"+JSON.toJSONString(crnCommand.getNowTask()));
-                            } catch (Exception e2){
-                            }
-                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
-                                log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
-                                devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
-                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
-
-                                throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
-                            }
-                        } catch (Exception eNow3){
-
-                        }
-                    }
-
                     devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
                     CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
                     continue;
@@ -1024,22 +989,22 @@
 //                }
 
                 // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-                CrnCommand crnCommand = new CrnCommand();
-                crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
-                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
-                crnCommand.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
-                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡:  搴撲綅绉昏浆
-                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
-                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
-                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 婧愬簱浣嶅眰
-                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鍒�
+                CrnCommand crnCommand1 = new CrnCommand();
+                crnCommand1.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+                crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
+                crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+                crnCommand1.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+                crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡:  搴撲綅绉昏浆
+                crnCommand1.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
+                crnCommand1.setSourcePosY(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
+                crnCommand1.setSourcePosZ(crnStn.getLev().shortValue());   // 婧愬簱浣嶅眰
+                crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鍒�
                 int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
-                crnCommand.setDestinationPosY((short)bay1);     // 鐩爣搴撲綅灞�
-                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鎺�
+                crnCommand1.setDestinationPosY((short)bay1);     // 鐩爣搴撲綅灞�
+                crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鎺�
 //                crnCommand.setCommand((short) 1);
-                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
-                    log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
+                    log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
                     devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
                     CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
 
@@ -1153,39 +1118,6 @@
 
                         // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
                         if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
-
-                            TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
-                            if (taskWrkNow3.getWrkSts() == 12){
-                                try{
-                                    CrnCommand command = new CrnCommand();
-                                    command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-                                    command.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈虹紪鍙�
-                                    command.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 宸ヤ綔鍙�
-                                    command.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
-                                    command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-                                    command.setSourcePosX(Utils.getRowShort(taskWrkNow3.getStartPoint()));     // 婧愬簱浣嶆帓
-                                    int bayS = Utils.getBayShort(taskWrkNow3.getStartPoint()) + 1;
-                                    command.setSourcePosY((short)bayS);     // 婧愬簱浣嶅垪
-                                    command.setSourcePosZ(Utils.getLevShort(taskWrkNow3.getStartPoint()));     // 婧愬簱浣嶅眰
-                                    command.setDestinationPosX(crnStn.getRow().shortValue());     // 鐩爣搴撲綅鎺�
-                                    command.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
-                                    command.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
-//                        command.setCommand((short) 1);
-                                    try{
-                                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
-                                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "宸烽亾鍙�"+command.getLaneNo()+";鍫嗗灈鏈哄懡浠ゅ湴鍧�琛ヤ竵閲嶆柊鍐欏叆:"+JSON.toJSONString(command.getNowTask()));
-                                    } catch (Exception e2){
-                                    }
-                                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
-                                        log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屽贩閬�={}锛屼换鍔℃暟鎹�={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
-                                        devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
-                                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
-                                        throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
-                                    }
-                                } catch (Exception eNow3){
-
-                                }
-                            }
                             devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
                             CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
                             break;
@@ -1312,6 +1244,7 @@
 
                 // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
                 if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
+                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
                     continue;
                 }
 

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