#

Junjie

2026-01-14 aa151079c2d02047f6cb5f8ad56ff92b98544e99

 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -256,15 +256,15 @@
    public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 任务模式:  库位移转
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id); // 任务模式:  库位移转
        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -272,13 +272,13 @@
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setAckFinish(0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -286,16 +286,16 @@
    public CrnCommand getResetCommand(Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo((short) 0); // 工作号
        crnCommand.setAckFinish((short) 1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 任务模式
        crnCommand.setSourcePosX((short)0);     // 源库位排
        crnCommand.setSourcePosY((short)0);     // 源库位列
        crnCommand.setSourcePosZ((short)0);     // 源库位层
        crnCommand.setDestinationPosX((short)0);     // 目标库位排
        crnCommand.setDestinationPosY((short)0);     // 目标库位列
        crnCommand.setDestinationPosZ((short)0);     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setAckFinish(1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 任务模式
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层
        crnCommand.setDestinationPosX(0);     // 目标库位排
        crnCommand.setDestinationPosY(0);     // 目标库位列
        crnCommand.setDestinationPosZ(0);     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }