From 025d3cf05d10a4a3adacc9713149a42cbb9413b7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期日, 05 五月 2024 09:21:42 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 29 +++++++++++++++++------------
1 files changed, 17 insertions(+), 12 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
index 8ce012d..6c02d01 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
@@ -4,12 +4,14 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
@@ -26,12 +28,12 @@
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
-import org.aspectj.apache.bcel.generic.RET;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.List;
+import java.util.Objects;
@Component
public class ShuttleAction {
@@ -110,16 +112,6 @@
if (shuttleProtocol == null) {
return false;
}
-
- //鍒ゆ柇璁惧鏄惁绌洪棽
- if (!shuttleThread.isDeviceIdle()) {
- return false;
- }
-// if (!shuttleThread.isIdle(() -> {
-// return shuttleProtocol.getTaskNo().equals(taskNo);
-// })) {
-// return false;
-// }
//鍒ゆ柇宸ヤ綔鍙锋槸鍚︾浉鍚�
if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
@@ -223,6 +215,20 @@
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
+ Integer mode = command.getMode();
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//鍏抽棴鍏呯數motion
+ return false;//涓嶉渶瑕佸垽鏂姸鎬�
+ }
+ return true;//闇�瑕佸垽鏂姸鎬�
+ }
+ })) {
+ return false;
+ }
+
// 涓嬪彂鍛戒护
if (!write(command, device)) {
News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -244,7 +250,6 @@
if (shuttleThread == null) {
return;
}
-
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return;
--
Gitblit v1.9.1