package com.zy.asrs.wcs.core.action;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
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import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.List;
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@Component
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public class ShuttleAction {
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private BasShuttleService basShuttleService;
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public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
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redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
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redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
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redisCommand.setCommandStep(0);//命令执行步序
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redisCommand.setAssignCommand(assignCommand);//命令
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//任务数据保存到redis
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if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
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//下发行驶路径
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boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo().intValue());
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if (!result) {
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return false;
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}
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shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
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return true;
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}
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return false;
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}
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public synchronized boolean executeWork(Device device, Integer taskNo) {
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Object obj = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + taskNo);
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if (obj == null) {
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return false;
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);
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if (redisCommand == null) {
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return false;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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//四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
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if (!shuttleProtocol.getIdle()
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|| shuttleProtocol.getTaskNo() == 0
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|| !shuttleProtocol.getPakMk()) {
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return false;
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}
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List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
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if (commands.isEmpty()) {
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return false;
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}
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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int commandStep = redisCommand.getCommandStep();
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// 完结上一条命令
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if (commandStep != 0) {
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ShuttleCommand command = commands.get(commandStep - 1);
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if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
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// 正常移动
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if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
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command.setComplete(true);
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//解锁锁定路径，上一条路径
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List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);//进行深度copy
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if (nodes != null) {
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NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//最终节点
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NavigateNode node = nodes.get(nodes.size() - 1);
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if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
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nodes.remove(nodes.size() - 1);//剔除尾节点
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}
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boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//解锁路径
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if (!result) {
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return false;//解锁失败
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}
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}
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}
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} else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id) {
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// 托盘顶升
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//判断是否顶升到位
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if (shuttleProtocol.getHasLift()) {
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//判断是否有物
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if (shuttleProtocol.getHasPallet()) {
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command.setComplete(true);
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}
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}
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} else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
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// 托盘下降命令
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// 判断是否下降到位
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if (!shuttleProtocol.getHasLift()) {
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command.setComplete(true);
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}
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} else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {
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// 充电开关
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//判断小车充电状态
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if (shuttleProtocol.getHasCharge()) {
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command.setComplete(true);
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}
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}else {
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command.setComplete(true);//其他命令默认认为完成
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}
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// 更新redis数据
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redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
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if (!command.getComplete()) {
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return false;
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}
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//判断是否为最后一条命令且命令执行完成，抛出等待确认状态
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ShuttleCommand endCommand = commands.get(commands.size() - 1);
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if (endCommand.getComplete()) {
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News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(commands));
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// 系统任务
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if (assignCommand.getAuto()) {
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if (!assignCommand.getCharge()) {
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//对主线程抛出等待确认状态waiting
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
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}else {
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
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}
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News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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// 手动任务
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} else {
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//手动模式不抛出等待状态，直接复位空闲状态
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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//任务号清零
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shuttleProtocol.setTaskNo(0);
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//标记复位
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shuttleProtocol.setPakMk(true);
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News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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}
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//删除redis
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redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo());
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return false;//禁止再下发命令
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}
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}
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//取出命令
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ShuttleCommand command = commands.get(commandStep);
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// 下发命令
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if (!write(command, device)) {
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News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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return false;
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}
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return true;
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}
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private synchronized boolean write(ShuttleCommand command, Device device) {
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if (null == command) {
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News.error("四向穿梭车写入命令为空");
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return false;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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boolean result = false;
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if (command.getMode() == ShuttleCommandModeType.MOVE.id
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|| command.getMode() == ShuttleCommandModeType.IN_LIFT.id
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|| command.getMode() == ShuttleCommandModeType.OUT_LIFT.id) {//移动
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result = shuttleThread.move(command);
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} else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
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|| command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升
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result = shuttleThread.lift(command);
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} else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {//充电
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result = shuttleThread.charge(command);
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} else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
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result = shuttleThread.reset(command);
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}
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return result;
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}
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}
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