#

zzgtfwq

3 天以前 29d5f847ca4d1f084d8170d5bf2235cd6b7dde14

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -1119,7 +1119,7 @@
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if (crnProtocol.getTaskNo() == 32222) {
                if (crnProtocol.getTaskNo() == 32222 || crnProtocol.getTaskNo() == 999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {
@@ -1202,11 +1202,16 @@
                        crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                        crnCommand.setTaskNo((short)999); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  站位移转4
                        crnCommand.setSourcePosX((short) 1);     // 源库位排
                        crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  站位移转4
                        Integer crnNo = crnProtocol.getCrnNo();
                        int row1 = crnNo * 4-1;
                        if (crnNo>2){
                            row1 = row1-2;
                        }
                        crnCommand.setSourcePosX((short) row1);     // 源库位排
                        crnCommand.setSourcePosY((short) 1);     // 源库位列
                        crnCommand.setSourcePosZ((short) 1);   // 源库位层
                        crnCommand.setDestinationPosX((short) 1);     // 目标库位排
                        crnCommand.setDestinationPosX((short) row1);     // 目标库位排
                        crnCommand.setDestinationPosY((short) 1);     // 目标库位层
                        crnCommand.setDestinationPosZ((short) 1);     // 目标库位列
                        if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {