#

Junjie

2024-04-13 1c02fedc5c6856522b4fe9699a726cb3c106d255

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

@@ -78,7 +78,7 @@
                    return false;
                }
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
            shuttleProtocol.setSyncTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -112,9 +112,17 @@
        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle(() -> {
            return shuttleProtocol.getTaskNo().equals(taskNo);
        })) {
        if (!shuttleThread.isDeviceIdle()) {
            return false;
        }
//        if (!shuttleThread.isIdle(() -> {
//            return shuttleProtocol.getTaskNo().equals(taskNo);
//        })) {
//            return false;
//        }

        //判断工作号是否相同
        if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
            return false;
        }

@@ -151,10 +159,11 @@
                // 托盘顶升
                //判断是否顶升到位
                if (shuttleProtocol.getHasLift()) {
                    //判断是否有物
                    if (shuttleProtocol.getHasPallet()) {
                        command.setComplete(true);
                    }
                    command.setComplete(true);
//                    //判断是否有物
//                    if (shuttleProtocol.getHasPallet()) {
//                        command.setComplete(true);
//                    }
                }
            } else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
                // 托盘下降命令
@@ -186,12 +195,12 @@

                // 系统任务
                if (assignCommand.getAuto()) {
//                    if (!assignCommand.getCharge()) {
//                        //对主线程抛出等待确认状态waiting
//                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
//                    }else {
//                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
//                    }
                    if (!assignCommand.getCharge()) {
                        //对主线程抛出等待确认状态waiting
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    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));

                    // 手动任务
@@ -199,7 +208,7 @@
                    //手动模式不抛出等待状态，直接复位空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setTaskNo(0);
                    shuttleProtocol.setSyncTaskNo(0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    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));
@@ -220,6 +229,7 @@
            return false;
        }

        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        commandStep++;
        //更新redis数据
        redisCommand.setCommandStep(commandStep);