联调

dubin

2025-08-23 0a6c080a712fa079915a05f49684b4e349d01444

联调

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

@@ -3260,7 +3260,8 @@
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务类型
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层

 src/main/java/com/zy/core/MainProcess.java

@@ -43,7 +43,7 @@
                    }

                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    mainService.crnDemoOfLocMove1();

                    // 入出库模式切换函数
//                    mainService.ioConvert();
@@ -76,6 +76,7 @@
//                    if(MessageQueue.offer(SlaveType.Led, 1, new Task(3,  "条码已存在状态为（ 2.设备上走 ）的任务,工作号="))){
//                        News.info("输入成功");
//                    }
                    //堆垛机无任务回入库口待机
                    mainService.crnMove();
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();