#

vincentlu

2025-12-11 beaff12a30ec142f7705606caab6293750dafac0

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 zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/LoadPlatformLift.java

New file
@@ -0,0 +1,32 @@
package com.zy.acs.common.domain.protocol.action;

import com.zy.acs.common.domain.protocol.IActionBody;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.RadixTools;
import lombok.Data;

import java.io.Serializable;

/**
 * 载货台升降
 * Created by vincent on 2023/3/23
 */
@Data
public class LoadPlatformLift implements IActionBody, Serializable {

    private static final long serialVersionUID = 6496283344148393737L;

    @Override
    public byte[] writeToBytes() {
        return Utils.reverse(RadixTools.shortToByte(this.height));
    }

    @Override
    public void readFromBytes(byte[] messageBodyBytes) {

    }

    // 升降高度
    private Short height;

}

 zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java

@@ -29,6 +29,8 @@

    READY_RELEASE_FROM_SHELVES_LOC(0x78, "准备往货架放货", ReadyReleaseToShelvesLoc.class),

    LOAD_PLATFORM_LIFT(0x79, "载货台升降", LoadPlatformLift.class),

    READY_TAKE_FROM_CONVEYOR_STA(0x7B, "准备从输送线取货", ReadyTakeFromConveyorSta.class),

    READY_RELEASE_FROM_CONVEYOR_STA(0x7C, "准备往输送线放货", ReadyReleaseToConveyorSta.class),

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -1114,7 +1114,24 @@
                        ));
                        break;
                    case TO_STANDBY:
//                        FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
                        // load lift
//                        actionList.add(new Action(
//                                null,    // 编号
//                                null,    // 总线
//                                task.getId(),    // 任务
//                                null,    // 动作号
//                                null,    // 优先级
//                                ActionTypeType.LoadPlatformLift.desc,    // 名称
//                                null,    // 属性值
//                                lastCode.getData(),    // 地面码
//                                String.valueOf(0),   // 动作参数
//                                ActionTypeType.LoadPlatformLift.val(),    // 动作类型
//                                actionPrepareSts,    // 动作进度
//                                agvId,    // AGV
//                                now    // 工作时间
//                        ));
                        // turn
//                        FuncSta standByFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.STANDBY.toString());
//                        Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
//                        if (!lastDirection.equals(standByDirection)) {
//                            actionList.add(new Action(
@@ -1304,6 +1321,13 @@
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case LoadPlatformLift:
                        agvAction.add(new AgvActionItem<>(LoadPlatformLift.class)
                                .setVal(action.getVal().intValue())
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        break;
                    case ReadyReleaseToConveyorSta:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToConveyorSta.class)
                                .setVal(action.getVal().intValue())

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java

@@ -21,6 +21,7 @@
    ReadyReleaseToShelvesLoc("准备往货架放货"), //     准备从货架放货
    ReadyReleaseToConveyorSta("准备往输送线放货"), //     准备往输送线放货
    ReadyReleaseToAgvSite("准备往AGV暂存货位放货"), // 准备往AGV暂存货位放货
    LoadPlatformLift("载货台升降"), // 载货台升降
    FinishPath("整个路径结束"), //     整个路径结束
    DockingCharge("对接充电桩"), //     对接充电桩
    ;