| | |
|---|
| | | crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列 |
|---|
| | | crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层 |
|---|
| | | crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排 |
|---|
| | | crnCommand.setCommand((short)1); |
|---|
| | | // crnCommand.setCommand((short)0); |
|---|
| | | if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) { |
|---|
| | | log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); |
|---|
| | | throw new CoolException("堆垛机命令生成失败"); |
|---|
