| | |
| | | import com.zy.asrs.wcs.core.entity.BasShuttle; |
| | | import com.zy.asrs.wcs.core.entity.Loc; |
| | | import com.zy.asrs.wcs.core.model.NavigateNode; |
| | | import com.zy.asrs.wcs.core.model.command.LiftAssignCommand; |
| | | import com.zy.asrs.wcs.core.model.command.LiftCommand; |
| | | import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand; |
| | | import com.zy.asrs.wcs.core.model.command.ShuttleCommand; |
| | | import com.zy.asrs.wcs.core.model.command.*; |
| | | import com.zy.asrs.wcs.core.model.enums.*; |
| | | import com.zy.asrs.wcs.core.service.BasShuttleService; |
| | | import com.zy.asrs.wcs.core.service.LocService; |
| | |
| | | import com.zy.asrs.wcs.rcs.News; |
| | | import com.zy.asrs.wcs.rcs.cache.SlaveConnection; |
| | | import com.zy.asrs.wcs.core.entity.Motion; |
| | | import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant; |
| | | import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType; |
| | | import com.zy.asrs.wcs.rcs.model.enums.SlaveType; |
| | | import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol; |
| | |
| | | |
| | | if (motion.getOrigin() != null && motion.getTarget() != null) { |
| | | //所使用的路径进行锁定禁用 |
| | | boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//所使用的路径进行锁定禁用 |
| | | boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//所使用的路径进行锁定禁用 |
| | | if (!lockResult) { |
| | | return false;//锁定失败 |
| | | } |
| | |
| | | break; |
| | | case SHUTTLE_UPDATE_LOCATION://小车坐标更新 |
| | | break; |
| | | case SHUTTLE_PALLET_LIFT://托盘顶升 |
| | | if (!shuttleProtocol.getHasLift()) { |
| | | return false; |
| | | } |
| | | break; |
| | | case SHUTTLE_PALLET_DOWN://托盘下降 |
| | | if (shuttleProtocol.getHasLift()) { |
| | | return false; |
| | | } |
| | | break; |
| | | default: |
| | | break; |
| | | } |