#

zjj

2024-06-19 37733cc39c04b863a0b997c7fa3d9ac6a24e08be

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java

@@ -21,6 +21,7 @@
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

/**
@@ -67,7 +68,7 @@
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setCommands(list);

        LiftCommand command = new LiftCommand();
        List<LiftCommand> command = new ArrayList<>();
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case LIFT_MOVE:
                // 如果已经在目标层，那边层过滤
@@ -77,7 +78,7 @@
                }

                command = liftThread.getMoveCommand(motion.getTaskNo(), 0, Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS:
//                if (liftProtocol.getHasTray()) {
@@ -85,7 +86,7 @@
//                }

                command = liftThread.getPalletInOutCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_SHUTTLE:
                if (!liftProtocol.getHasCar()) {
@@ -93,7 +94,7 @@
                }

                command = liftThread.getMoveWithShuttleCommand(motion.getTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), LiftCommandModeType.MOVE_CAR);
                list.add(command);
                list.addAll(command);
                return liftAction.assignWork(liftThread.getDevice(), assignCommand);
            case LIFT_WITH_GOODS_AND_SHUTTLE:
                return false;