From 70c104c001de0c586b0d468a30729a9a944560ef Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期四, 29 一月 2026 16:42:23 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 27 ++++++++++++++++++---------
1 files changed, 18 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
index 5f6a962..4917e58 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
@@ -67,7 +67,7 @@
try {
deviceLogCollectTime = Utils.getDeviceLogCollectTime();
readStatus();
- Thread.sleep(100);
+ Thread.sleep(50);
} catch (Exception e) {
log.error("DualCrnThread Fail", e);
}
@@ -123,7 +123,7 @@
}
}
- if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus() == DualCrnStatusType.IDLE.id) {
+ if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
Integer taskNo = crnProtocol.getTaskNo();
Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
if (commandObj == null) {
@@ -251,13 +251,13 @@
crnProtocol.setLiftPosTwo(0);
crnProtocol.setAlarm(0);
- crnProtocol.setXSpeed(0);
- crnProtocol.setYSpeed(0);
- crnProtocol.setZSpeed(0);
- crnProtocol.setXDistance(0);
- crnProtocol.setYDistance(0);
- crnProtocol.setXDuration(0);
- crnProtocol.setYDuration(0);
+ crnProtocol.setXSpeed(0D);
+ crnProtocol.setYSpeed(0D);
+ crnProtocol.setZSpeed(0D);
+ crnProtocol.setXDistance(0D);
+ crnProtocol.setYDistance(0D);
+ crnProtocol.setXDuration(0D);
+ crnProtocol.setYDuration(0D);
BasDualCrnpService basDualCrnpService = null;
try {
@@ -430,6 +430,9 @@
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setTaskMode(DualCrnTaskModeType.PICK.id); // 浠诲姟妯″紡: 鍙栬揣
+ crnCommand.setSourcePosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setSourcePosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setSourcePosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
@@ -444,6 +447,9 @@
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setTaskMode(DualCrnTaskModeType.PUT.id); // 浠诲姟妯″紡: 鏀捐揣
+ crnCommand.setSourcePosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setSourcePosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setSourcePosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
@@ -458,6 +464,9 @@
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setTaskMode(DualCrnTaskModeType.MOVE.id); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setSourcePosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setSourcePosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setSourcePosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
--
Gitblit v1.9.1