#

Junjie

2025-05-23 a37eb3393b65933105a6f23a1713a2b14b835d16

 src/main/java/com/zy/asrs/controller/ForkLiftController.java

@@ -16,10 +16,7 @@
import com.zy.core.action.ForkLiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
@@ -274,7 +271,7 @@

        if (param.getLiftTaskMode() == 1) {
            //小车换层
            int workNo = commonService.getWorkNo(99);//获取任务号
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();
@@ -296,7 +293,7 @@
            return R.ok();
        } else if (param.getLiftTaskMode() == 2) {
            //移动托盘
            int workNo = commonService.getWorkNo(99);//获取任务号
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();
@@ -317,6 +314,28 @@
            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 3) {
            //移动
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<ForkLiftCommand> liftCommand = forkLiftThread.getMoveCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 4) {
            //任务确认
            forkLiftThread.reset();
            return R.ok();