From beaff12a30ec142f7705606caab6293750dafac0 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 11 十二月 2025 15:58:54 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 26 ++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java | 1
zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java | 2 +
zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/LoadPlatformLift.java | 32 ++++++++++++++++
4 files changed, 60 insertions(+), 1 deletions(-)
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/LoadPlatformLift.java b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/LoadPlatformLift.java
new file mode 100644
index 0000000..7490a96
--- /dev/null
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/domain/protocol/action/LoadPlatformLift.java
@@ -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;
+
+/**
+ * 杞借揣鍙板崌闄�
+ * 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) {
+
+ }
+
+ // 鍗囬檷楂樺害
+ private Short height;
+
+}
diff --git a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java b/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
index 2240884..cc0e71e 100644
--- a/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
+++ b/zy-acs-common/src/main/java/com/zy/acs/common/enums/AgvActionCmdType.java
@@ -29,6 +29,8 @@
READY_RELEASE_FROM_SHELVES_LOC(0x78, "鍑嗗寰�璐ф灦鏀捐揣", ReadyReleaseToShelvesLoc.class),
+ LOAD_PLATFORM_LIFT(0x79, "杞借揣鍙板崌闄�", LoadPlatformLift.class),
+
READY_TAKE_FROM_CONVEYOR_STA(0x7B, "鍑嗗浠庤緭閫佺嚎鍙栬揣", ReadyTakeFromConveyorSta.class),
READY_RELEASE_FROM_CONVEYOR_STA(0x7C, "鍑嗗寰�杈撻�佺嚎鏀捐揣", ReadyReleaseToConveyorSta.class),
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 1516ccf..18f8704 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/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, // 缂栧彿
+// null, // 鎬荤嚎
+// task.getId(), // 浠诲姟
+// null, // 鍔ㄤ綔鍙�
+// null, // 浼樺厛绾�
+// ActionTypeType.LoadPlatformLift.desc, // 鍚嶇О
+// null, // 灞炴�у��
+// lastCode.getData(), // 鍦伴潰鐮�
+// String.valueOf(0), // 鍔ㄤ綔鍙傛暟
+// ActionTypeType.LoadPlatformLift.val(), // 鍔ㄤ綔绫诲瀷
+// actionPrepareSts, // 鍔ㄤ綔杩涘害
+// agvId, // AGV
+// now // 宸ヤ綔鏃堕棿
+// ));
+ // 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())
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
index 6aa6718..c6a318d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/ActionTypeType.java
@@ -21,6 +21,7 @@
ReadyReleaseToShelvesLoc("鍑嗗寰�璐ф灦鏀捐揣"), // 鍑嗗浠庤揣鏋舵斁璐�
ReadyReleaseToConveyorSta("鍑嗗寰�杈撻�佺嚎鏀捐揣"), // 鍑嗗寰�杈撻�佺嚎鏀捐揣
ReadyReleaseToAgvSite("鍑嗗寰�AGV鏆傚瓨璐т綅鏀捐揣"), // 鍑嗗寰�AGV鏆傚瓨璐т綅鏀捐揣
+ LoadPlatformLift("杞借揣鍙板崌闄�"), // 杞借揣鍙板崌闄�
FinishPath("鏁翠釜璺緞缁撴潫"), // 鏁翠釜璺緞缁撴潫
DockingCharge("瀵规帴鍏呯數妗�"), // 瀵规帴鍏呯數妗�
;
--
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