yml

Junjie

2023-06-08 0f4f4a7b27a1de2bc1ad6752881f3f9cb97f1e99

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -210,7 +210,7 @@

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
                BasShuttle basShuttle = shuttleService.selectById(slave.getId());
                if (basShuttle == null) {
                    basShuttle = new BasShuttle();
                    //四向穿梭车号
@@ -467,10 +467,16 @@
                    commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
                    break;
                case 5://强制左移
                    commands.add(getForceMoveCommand((short) 2));
                    break;
                case 6://强制右移
                    commands.add(getForceMoveCommand((short) 1));
                    break;
                case 7://强制上移
                    commands.add(getForceMoveCommand((short) 3));
                    break;
                case 8://强制下移
                    commands.add(getForceMoveCommand((short) (assignCommand.getTaskMode() - 4)));
                    commands.add(getForceMoveCommand((short) 4));
                    break;
                case 9://状态复位
                    ShuttleCommand reset = getResetCommand();
@@ -918,7 +924,7 @@
     * 获取托盘顶升命令
     * @param lift 1顶升，2下降
     */
    private ShuttleCommand getPalletCommand(Short lift) {
    public ShuttleCommand getPalletCommand(Short lift) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 2);
        command.setStartCodeNum((short) 0);
@@ -938,7 +944,7 @@
     * 正常移动命令
     * @return
     */
    private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
    public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 1);
        command.setStartCodeNum(startCodeNum);
@@ -957,7 +963,7 @@
     * 强制移动命令
     * @param direction 移动方向 1左移，2右移，3前移，4后移
     */
    private ShuttleCommand getForceMoveCommand(Short direction) {
    public ShuttleCommand getForceMoveCommand(Short direction) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 3);
        command.setStartCodeNum((short) 0);
@@ -975,7 +981,7 @@
    /**
     * 状态复位命令
     */
    private ShuttleCommand getResetCommand() {
    public ShuttleCommand getResetCommand() {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 6);
        command.setStartCodeNum((short) 0);
@@ -998,7 +1004,7 @@
     * 获取寻库位命令
     * @param direction 1:向正方向(左)寻库位,2:向负方向(右)寻库位,3:向负方向(后)寻库位,4:向正方向(前)寻库位
     */
    private ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
    public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 4);
        command.setRunDirection(direction);
@@ -1012,14 +1018,14 @@
     * 获取寻库位命令，默认移动距离3000，运行速度1000
     * @param direction 1:向正方向(左)寻库位,2:向负方向(右)寻库位,3:向负方向(后)寻库位,4:向正方向(前)寻库位
     */
    private ShuttleCommand getFindLocCommand(Short direction) {
    public ShuttleCommand getFindLocCommand(Short direction) {
        return getFindLocCommand(direction, 3000, (short) 1000);
    }

    /**
     * 获取充电开关命令
     */
    private ShuttleCommand getChargeSwitchCommand() {
    public ShuttleCommand getChargeSwitchCommand() {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 8);
        command.setIOControl((short) 4);
@@ -1027,6 +1033,18 @@
        return command;
    }

    /**
     * charge：1=>开始充电，2=>断开充电
     */
    public ShuttleCommand getChargeSwitchCommand(Short charge) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 5);//充电
        command.setShuttleNo(shuttleProtocol.getShuttleNo());
        command.setChargeSwitch(charge);//开始充电
        command.setCommandEnd((short) 1);
        return command;
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/