#

Junjie

2024-10-16 0f5a5a759221bde50ace126eae797326837f5f72

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -36,6 +36,7 @@
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

@Component
public class ShuttleAction {
@@ -132,13 +133,36 @@
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        int commandStep = redisCommand.getCommandStep();

        Integer mode = -1;
        if(commandStep < commands.size()) {
            //取出命令
            ShuttleCommand currentCommand = commands.get(commandStep);
            mode = currentCommand.getMode();
        }

        //判断设备是否空闲
        Integer finalMode = mode;
        if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(finalMode)) {//关闭充电motion
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {
            return false;
        }

        // 完结上一条命令
        boolean updateCommand = false;
        if (commandStep != 0) {
            ShuttleCommand command = commands.get(commandStep - 1);
            if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
                // 正常移动
                if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
                    command.setComplete(true);
                    updateCommand = true;
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = null;
                    try {
@@ -166,6 +190,7 @@
                //判断是否顶升到位
                if (shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                    updateCommand = true;
//                    //判断是否有物
//                    if (shuttleProtocol.getHasPallet()) {
//                        command.setComplete(true);
@@ -176,19 +201,24 @@
                // 判断是否下降到位
                if (!shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                    updateCommand = true;
                }
            } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
                // 充电开
                //判断小车充电状态
                if (shuttleProtocol.getHasCharge()) {
                    command.setComplete(true);
                    updateCommand = true;
                }
            }else {
                command.setComplete(true);//其他命令默认认为完成
                updateCommand = true;
            }

            // 更新redis数据
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
            if(updateCommand) {
                // 更新redis数据
                redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
            }

            if (!command.getComplete()) {
                return false;
@@ -228,20 +258,6 @@

        //取出命令
        ShuttleCommand command = commands.get(commandStep);

        Integer mode = command.getMode();
        //判断设备是否空闲
        if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//关闭充电motion
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {
            return false;
        }

        // 下发命令
        if (!write(command, device)) {