From 29ff148a9a108b387afa2e60d257d5a193e52d5f Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期一, 08 十二月 2025 17:02:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 13 +++++++++----
1 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 39aec0b..8c6dc95 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1119,7 +1119,7 @@
}
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- if (crnProtocol.getTaskNo() == 32222) {
+ if (crnProtocol.getTaskNo() == 32222 || crnProtocol.getTaskNo() == 999) {
// 鍫嗗灈鏈哄浣�
crnThread.setResetFlag(true);
} else {
@@ -1202,11 +1202,16 @@
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo((short)999); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 浠诲姟妯″紡: 绔欎綅绉昏浆4
- crnCommand.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
+ crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 绔欎綅绉昏浆4
+ Integer crnNo = crnProtocol.getCrnNo();
+ int row1 = crnNo * 4-1;
+ if (crnNo>2){
+ row1 = row1-2;
+ }
+ crnCommand.setSourcePosX((short) row1); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosX((short) row1); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅鍒�
if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
--
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