#led

zjj

2024-11-18 f11ebf31a302d2a8a755625cec83294c67a9088c

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

@@ -136,6 +136,15 @@
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;

                if (motion.getReleaseLift() == 2) {//执行中释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                break;
            case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
                BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//获取输送站点
@@ -166,7 +175,7 @@
                        .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
                break;
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
@@ -252,7 +261,7 @@
//                    return false;
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
                break;
            case SHUTTLE_CHARGE_ON://充电开
@@ -562,7 +571,6 @@
            News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            return null;//解锁失败
        }


        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);