#

lsh

2025-01-07 71e8276010f2c78a428acc08750075461a4c2729

#

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

@@ -4384,7 +4384,7 @@
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)105);
                rgvCommand.setSourceStaNo1( (short)104);
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, 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   step=9，回原点 9999任务号
@@ -4406,7 +4406,7 @@
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)113);
                rgvCommand.setSourceStaNo2((short)114);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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   step=9，回原点 9999任务号

 src/main/java/com/zy/asrs/utils/RouteUtils.java

@@ -135,7 +135,7 @@
                case 122: return  118;
                case 105: return  119;
                case 107:
                case 118: return  120;
                case 118: return  108;
                case 108:
                case 119: return  111;
                case 110:
@@ -158,10 +158,10 @@
                case 114: return  113;
                case 123:
                case 113: return  111;
                case 121:
                case 111: return  108;
                case 121: return  110;
                case 111: return  110;
                case 120:
                case 110: return 107;
                case 110: return 108;
                case 119:
                case 108: return  107;
                case 118: