#

Junjie

2024-07-15 ff1fedd00c22aa232541f63ebcaa5a7f929b89b7

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

@@ -323,8 +323,10 @@
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                }else {
                    //在起点位置，调度去目标位置
                    shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//切换y轴
                    Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    if (task != null) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//切换y轴
                    }

                    if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
                        //y轴也跑完了，结束跑库
@@ -362,8 +364,10 @@
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                }else {
                    //在起点位置，调度去目标位置
                    shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//切换x轴
                    Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    if (task != null) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//切换x轴
                    }

                    if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
                        //y轴也跑完了，结束跑库
@@ -486,6 +490,7 @@
                            return;
                        }
                    }
                    return;
                }

                //调度去库位
@@ -641,7 +646,11 @@
            result = shuttleThread.charge(command);
        } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
            result = shuttleThread.reset(command);
        } else if (command.getMode() == ShuttleCommandModeType.UPDATE_LOCATION.id) {//更新坐标
            result = shuttleThread.updateLocation(command);
        }

        News.info("四向穿梭车命令下发，穿梭车号={}，任务数据={}", device.getDeviceNo(), JSON.toJSON(command));
        return result;
    }