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Junjie

2024-06-19 433acf23bda611bdb208c55d82e4a78de74cf02f

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 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java

@@ -157,13 +157,13 @@
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -205,7 +205,7 @@
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    if (lockCommand == null) {
                        return false;
                    }
@@ -214,7 +214,7 @@
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -337,13 +337,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -352,7 +352,7 @@

                //判断小车是否已到位
                if (liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                    List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
@@ -360,7 +360,7 @@
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            list.addAll(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
@@ -397,13 +397,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -412,7 +412,7 @@

                //判断小车是否已离开
                if (!liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//获取小车已驾离命令
                    List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//获取小车已驾离命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
@@ -421,7 +421,7 @@
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            list.addAll(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
@@ -460,13 +460,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);