#

Junjie

2025-07-06 0d04bc5d8080b82338302fba0a59fccff2eaedfc

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java

@@ -646,6 +646,11 @@
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
            case SHUTTLE_MOVE_TO_LIFT://进提升机
            case SHUTTLE_PALLET_LIFT://托盘顶升
            case SHUTTLE_PALLET_DOWN://托盘下降
            case SHUTTLE_CHARGE_ON://充电开
            case SHUTTLE_CHARGE_OFF://充电关
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                return deviceTaskNo;
            default:
                return taskNo;
@@ -734,11 +739,13 @@

    @Override
    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
        int deviceTaskNo = this.generateDeviceTaskNo(taskNo, lift ? MotionCtgType.SHUTTLE_PALLET_LIFT : MotionCtgType.SHUTTLE_PALLET_DOWN);

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "actionOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", taskNo);
        body.put("taskId", deviceTaskNo);
        body.put("action", lift ? 1 : 2);

        ShuttleCommand command = new ShuttleCommand();
@@ -750,11 +757,13 @@

    @Override
    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
        int deviceTaskNo = this.generateDeviceTaskNo(taskNo, charge ? MotionCtgType.SHUTTLE_CHARGE_ON : MotionCtgType.SHUTTLE_CHARGE_OFF);

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", taskNo);
        body.put("taskId", deviceTaskNo);
        body.put("action", charge ? 3 : 4);

        ShuttleCommand command = new ShuttleCommand();