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lsh

2024-10-20 7ea081db310d54d3a83c3bea61febb397d67b0f7

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

@@ -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

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -203,13 +203,14 @@
        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[4];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getDestinationStaNo1();
        array[2] = command.getTaskMode1();//任务模式
        array[3] = command.getTaskNo1();
        short[] array = new short[5];
        array[0] = command.getRgvNo().shortValue();
        array[1] = command.getSourceStaNo1();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getTaskMode1();//任务模式
        array[4] = command.getTaskNo1();

        OperateResult result = siemensNet.Write("DB24.2", array);
        OperateResult result = siemensNet.Write("DB24.0", array);

        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);