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Junjie

22 小时以前 efa3e3042d30506b8eb3ce662d39c4dd954ae945

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 src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java

@@ -34,16 +34,7 @@
    private Integer deviceTaskNo = 0;

    /**
     * 作业类型
     * 1:  入库
     * 2： 出库
     * 3： 托盘顶升
     * 4： 托盘下降
     * 5： 左移
     * 6： 右移
     * 7： 前移
     * 8： 后移
     * 9: 充电
     * 作业类型 ShuttleTaskModeType
     */
    private Integer taskMode = 0;


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

@@ -76,7 +76,7 @@

    JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);

    boolean restartCalcPath();
    boolean restartCalcPath();//重新规划路径

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


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

@@ -934,6 +934,28 @@
        if (commands == null) {
            return false;
        }

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
            List<ShuttleCommand> originCommands = assignCommand.getCommands();
            if (originCommands == null) {
                return false;
            }

            ShuttleCommand firstCommand = originCommands.get(0);
            ShuttleCommand endCommand = originCommands.get(commands.size() - 1);

            if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
                return false;
            }

            if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) {
                return false;
            }

            commands.add(0, firstCommand);
            commands.add(endCommand);
        }

        assignCommand.setCommands(commands);

        //下发任务