#

Junjie

2025-03-18 05f2733c4cdc4ea0765e08d61273728aebb70d16

#

 src/main/java/com/zy/core/thread/ForkLiftThread.java

@@ -44,6 +44,6 @@

    List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put);//取放货指令

    List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev);//小车换层
    List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put);//小车换层

}

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

@@ -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);

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

@@ -365,13 +365,16 @@

    @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);
@@ -379,14 +382,17 @@
    }

    @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);

 src/main/resources/application.yml

@@ -80,18 +80,18 @@
    staRow: 9
    staBay: 6
    sta[0]:
      staNo: 1
      staNo: 1001
      lev: 1
      liftNo: ${wcs-slave.forkLift[0].id}
    sta[1]:
      staNo: 2
      staNo: 1002
      lev: 2
      liftNo: ${wcs-slave.forkLift[0].id}
    sta[2]:
      staNo: 3
      staNo: 1003
      lev: 3
      liftNo: ${wcs-slave.forkLift[0].id}
    sta[3]:
      staNo: 4
      staNo: 1004
      lev: 4
      liftNo: ${wcs-slave.forkLift[0].id}