#

Junjie

2025-03-29 d51e29f60353ba3941489aed453997ee423c7bd5

 src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java

@@ -43,7 +43,6 @@
    private ForkLiftSlave slave;
    private ForkLiftProtocol forkLiftProtocol;
    private RedisUtil redisUtil;
    private SiemensS7Net siemensS7Net;
    private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
    private LfdZyForkLiftMasterThread masterThread;

@@ -140,6 +139,7 @@
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
            }

            SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
            if (result1.IsSuccess) {
                if (null == forkLiftProtocol) {
                    forkLiftProtocol = new ForkLiftProtocol();
@@ -369,13 +369,16 @@

    @Override
    public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
        command.setPick(pick.shortValue());
        command.setPut(put.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
@@ -383,14 +386,17 @@
    }

    @Override
    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
        command.setPick(originLev.shortValue());
        command.setPut(targetLev.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);