From 9e8126946c80d850322ddd31f30cdc99389f36ac Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 29 七月 2024 08:18:56 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java    |   27 +++++++++++++++++----------
 src/main/java/com/zy/asrs/service/impl/TaskWrkServiceImpl.java |   19 +++++++++++++++++++
 2 files changed, 36 insertions(+), 10 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 d9054a9..349a0a2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -489,11 +489,10 @@
                     log.error("淇敼宸ヤ綔妗g姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
                 }
                 TaskWrk taskWrk2 = taskWrkService.selectByWrkNo(taskWrk.getWrkNo());
-
                 if (taskWrk2.getWrkSts() != 3){
                     continue;
                 }
-                log.error("杩涘叆淇敼宸ヤ綔妗f祦绋嬪畬鎴�,taskWrk=", taskWrk.getWrkNo());
+                log.error("杩涘叆淇敼宸ヤ綔妗f祦绋嬪畬鎴�,taskWrk="+ taskWrk.getWrkNo());
 
 
                 //鍙栧嚭鍛戒护
@@ -681,6 +680,8 @@
                             taskWrk.setModiTime(now);
                             if (taskWrkMapper.updateById(taskWrk) == 0) {
                                 log.error("淇敼宸ヤ綔妗g姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+                            }else {
+                                log.error("淇敼宸ヤ綔妗g姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓紒锛侊紝宸ヤ綔鍙�={}", taskWrk.getWrkNo());
                             }
                             //寮�濮嬭繍琛�
                             String response = CrnStartRunning(taskWrk);
@@ -710,7 +711,6 @@
                     .eq("wrk_sts",11)
                     .eq("io_type",3));
             for (TaskWrk taskWrk : taskWrks){
-
                 // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
                 if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
                     String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
@@ -720,7 +720,7 @@
                     }
                 }
                 // 鍫嗗灈鏈烘帶鍒惰繃婊�
-                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+                if (!crnProtocol.getModeType().equals(CrnModeType.AUTO) || !crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                     continue;
                 }
 
@@ -802,16 +802,23 @@
                     taskWrk.setModiTime(now);
                     if (taskWrkMapper.updateById(taskWrk) == 0) {
                         log.error("淇敼宸ヤ綔妗g姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+                    }else{
+                        log.info("绉诲簱浠诲姟涓嬪彂浠诲姟鎴愬姛锛屼慨鏀瑰伐浣滄。鐘舵�� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 锛屽伐浣滃彿={}", taskWrk.getWrkNo());
                     }
                     //寮�濮嬭繍琛�
-                    String response = CrnStartRunning(taskWrk);
-                    JSONObject jsonObject = JSON.parseObject(response);
-                    if (jsonObject.getInteger("code").equals(200)) {
+                    try{
+                        String response = CrnStartRunning(taskWrk);
+                        JSONObject jsonObject = JSON.parseObject(response);
+                        if (jsonObject.getInteger("code").equals(200)) {
 
-                    }else {
-                        log.error("绉诲簱浠诲姟寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
-                        continue;
+                        }else {
+                            log.error("绉诲簱浠诲姟寮�濮嬭繍琛寃ms杩斿洖澶辫触,"+jsonObject.get("msg"));
+                            continue;
+                        }
+                    }catch (Exception e){
+                        log.error("绉诲簱浠诲姟寮�濮嬭繍琛岃姹倃ms鎶ラ敊,"+e.getMessage());
                     }
+
                     break;
                 }
                 return;
diff --git a/src/main/java/com/zy/asrs/service/impl/TaskWrkServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/TaskWrkServiceImpl.java
index 222d46a..1ea1de4 100644
--- a/src/main/java/com/zy/asrs/service/impl/TaskWrkServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/TaskWrkServiceImpl.java
@@ -193,6 +193,25 @@
         taskWrk.setModiTime(new Date());
         taskWrk.setModiUser(userId);
         updateById(taskWrk);
+
+
+        CrnCommand crnCommand = new CrnCommand();
+        crnCommand.setCrnNo(taskWrk.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+        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.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 婧愬簱浣嶆帓
+        crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 婧愬簱浣嶅垪
+        crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 婧愬簱浣嶅眰
+        crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鎺�
+        crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅鍒�
+        crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 鐩爣搴撲綅灞�
+        crnCommand.setCommand((short) 1);
+
+        if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(5, 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));
+            throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+        }
     }
 
     @Override

--
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