#

lsh

2024-04-05 db093d853136fa7809eb1c5e512656bfb8980d15

#

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

@@ -4236,7 +4236,7 @@
                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(rgvRunSta[0].shortValue());
                rgvCommand.setSourceStaNo1(rgvRunSta[1].shortValue());
                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
@@ -4258,7 +4258,7 @@
                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(rgvRunSta[1].shortValue());
                rgvCommand.setSourceStaNo2(rgvRunSta[0].shortValue());
                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

@@ -421,35 +421,48 @@
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
        if (id == 0){
            if (ib>ic){
                return b;
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
                return c;
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            if (ib<ic){
                return b;
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
                return c;
            }
        }
//        if (id==0){
//            if (ia>ib){
//                if (ia>ic){
//                    return a;
//                }else {
//                    return c;
//                }
//            }else {
//                if (ib>ic){
//                    return b;
//                }else {
//                    return c;
//                }
//            }
//        }else {
//            if (ia<ib){
//                if (ia<ic){
//                    return a;
//                }else {
//                    return c;
//                }
//            }else {
//                if (ib<ic){
//                    return b;
//                }else {
//                    return c;
//                }
//            }
//        }
    }

    /*