#

Junjie

2025-05-24 1096df7b05cb00d0771d9f8c6cc43d8022099c7b

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

@@ -76,42 +76,42 @@
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write5((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        if (null == command) {
                            command = new CrnCommand();
                        }
                        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
                        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;
                    case 4:
                        writeAuto((CrnCommand) task.getData());
                        break;
                    case 5:
                        write((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
//                switch (step) {
//                    // 读数据
//                    case 1:
//                        readStatus();
//                        break;
//                    // 写入数据
//                    case 2:
//                        write5((CrnCommand) task.getData());
//                        break;
//                    // 复位
//                    case 3:
//                        CrnCommand command = (CrnCommand) task.getData();
//                        if (null == command) {
//                            command = new CrnCommand();
//                        }
//                        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
//                        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;
//                    case 4:
//                        writeAuto((CrnCommand) task.getData());
//                        break;
//                    case 5:
//                        write((CrnCommand) task.getData());
//                        break;
//                    default:
//                        break;
//                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();