shuttle.html

Junjie

2023-07-19 5bc9dd2d2524c1ed96aee76765cfd23d7a776517

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -797,7 +797,7 @@
                                    Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                                    //增加移动进提升机命令
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
                                    commands.add(moveCommand);

                                    //分配目标库位
@@ -822,7 +822,7 @@
                                Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
                                Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
                                //获取命令
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
                                commands.add(0, moveCommand);//将该指令添加到队头

                                assignCommand.setCommands(commands);
@@ -849,7 +849,7 @@
//                                    Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
//                                    Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
//                                    //获取命令
//                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
//                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
//                                    commands.add(0, moveCommand);//将该指令添加到队头
//                                }
//                                assignCommand.setCommands(commands);
@@ -872,7 +872,7 @@
//                                Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
//
//                                //增加移动进提升机命令
//                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
//                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
//                                commands.add(moveCommand);
//
//                                //分配目标库位
@@ -1262,7 +1262,7 @@
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            //增加移动进提升机命令
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
                            commands.add(moveCommand);

                            //目标库位
@@ -1303,7 +1303,7 @@
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
@@ -1827,12 +1827,13 @@
                    LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
                    command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号
                    command2.setRotationDire(2);//给输送线下发链条转动信号，反转
                    command2.setDevpId(devpId);//输送线iD
                    command2.setDevpId(devpId);//输送线ID
                    command2.setStaNo((short) 104);//写入出库目标站104
                    commands.add(command2);//将命令添加进list

                    //提升机前往出库口，输送线楼层
                    LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
                    command3.setDevpId(devpId);//输送线ID
                    commands.add(command3);//将命令添加进list

                    //提升机到达指定楼层，输送线将货物移出去(反转)
@@ -1840,12 +1841,12 @@
                    LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
                    command4.setOperaStaNo((short) 102);//操作102站
                    command4.setRotationDire(2);//给输送线下发链条转动信号，反转
                    command4.setDevpId(devpId);
                    command4.setDevpId(devpId);//输送线ID
                    commands.add(command4);//将命令添加进list

                    //提升机链条执行完毕后，给102站写入资料
                    LiftCommand command5 = liftThread.getResetCommand();
                    command5.setDevpId(devpId);//输送线iD
                    command5.setDevpId(devpId);//输送线ID
                    command5.setOperaStaNo((short) 102);//操作102站
                    command5.setStaNo((short) 104);//写入出库目标站104
                    command5.setRotationDire(0);//链条转动停止
@@ -2825,7 +2826,7 @@
                    Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                    //增加移动进提升机命令
                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
                    commands.add(moveCommand);

                    //分配目标库位
@@ -2915,7 +2916,7 @@
                Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
                Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
                //获取命令
                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
                commands.add(0, moveCommand);//将该指令添加到队头

                //进行充电中