*

lsh

2024-10-20 7ea081db310d54d3a83c3bea61febb397d67b0f7

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

@@ -47,7 +47,7 @@
    @Autowired
    private WrkMastService wrkMastService;
    /**
     * 站点任务检测  下发小车取放任务
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePosition() {
        try{
@@ -158,6 +158,7 @@
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                    rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                    rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
@@ -232,7 +233,6 @@
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {