#

Junjie

2024-10-17 8f374a40b58738ca0b5ad30b157fe8e06b363288

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

@@ -125,7 +125,7 @@
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
                break;
            case SHUTTLE_TRANSPORT://穿梭车载货行走
                // 如果已经在当前条码则过滤
@@ -167,16 +167,16 @@
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
                break;
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
                shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
                break;
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
                break;
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
@@ -216,7 +216,7 @@
//                }

                shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_OUT_LIFT;
                break;
            case SHUTTLE_MOVE_TO_LIFT://进提升机
                // 判断提升机状态
@@ -253,15 +253,15 @@
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
                break;
            case SHUTTLE_CHARGE_ON://充电开
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE_ON;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_CHARGE_OFF://充电关
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE_OFF;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
                assignCommand.setCharge(Boolean.TRUE);
                break;
@@ -278,7 +278,7 @@
                shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;

                //获取全部待机位
                List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);