#

Junjie

2024-04-13 e9a4418c14ef68fb454300b092c413e8df259ec2

#

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -197,20 +197,20 @@
                if (assignCommand.getAuto()) {
                    if (!assignCommand.getCharge()) {
                        //对主线程抛出等待确认状态waiting
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

                    // 手动任务
                } else {
                    //手动模式不抛出等待状态，直接复位空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setSyncTaskNo(0);
                    shuttleThread.setSyncTaskNo(0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    shuttleThread.setPakMk(true);
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

@@ -229,7 +229,7 @@
            return false;
        }

        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        commandStep++;
        //更新redis数据
        redisCommand.setCommandStep(commandStep);

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

@@ -252,9 +252,9 @@
        //充电任务
        if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
            // 复位穿梭车
            shuttleProtocol.setSyncTaskNo(0);
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleProtocol.setPakMk(true);
            shuttleThread.setSyncTaskNo(0);
            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleThread.setPakMk(true);
            return true;
        }

@@ -323,9 +323,9 @@
        }

        // 复位穿梭车
        shuttleProtocol.setSyncTaskNo(0);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        shuttleProtocol.setPakMk(true);
        shuttleThread.setSyncTaskNo(0);
        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        shuttleThread.setPakMk(true);

        return true;
    }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java

@@ -4,6 +4,7 @@
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;

import java.util.List;
@@ -40,6 +41,12 @@

    int generateDeviceTaskNo(int taskNo);//生成硬件设备工作号

    boolean setProtocolStatus(ShuttleProtocolStatusType status);//设置工作状态

    boolean setSyncTaskNo(Integer taskNo);//设置工作号

    boolean setPakMk(boolean pakMk);//设置标记

    //***************获取命令*****************

    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed);//获取移动命令

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java

@@ -536,6 +536,24 @@
    }

    @Override
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setPakMk(boolean pakMk) {
        this.shuttleProtocol.setPakMk(pakMk);
        return true;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");