From 36c6d6b39e2b76080480c5bc90a412d711b76144 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 19 六月 2024 15:54:24 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/Four-Way-Rack' into Four-Way-Rack
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 40 +++++++++++++++++++++-------------------
1 files changed, 21 insertions(+), 19 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index a8913bd..402c46e 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -157,13 +157,13 @@
}
})) {
//閿佸畾鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
+ List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -205,7 +205,7 @@
}
})) {
//閿佸畾鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
+ List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
if (lockCommand == null) {
return false;
}
@@ -214,7 +214,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -285,11 +285,13 @@
//鍏呯數浠诲姟
if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
- // 澶嶄綅绌挎杞�
- shuttleThread.setSyncTaskNo(0);
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleThread.setPakMk(true);
- return true;
+ if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {
+ // 澶嶄綅绌挎杞�
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
+ return true;
+ }
}
if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
@@ -335,13 +337,13 @@
}
})) {
//瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -350,7 +352,7 @@
//鍒ゆ柇灏忚溅鏄惁宸插埌浣�
if (liftProtocol.getHasCar()) {
- LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
+ List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
if(signalCommand != null) {
boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
if (!hasKey) {
@@ -358,7 +360,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
+ list.addAll(signalCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
return false;
@@ -395,13 +397,13 @@
}
})) {
//瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -410,7 +412,7 @@
//鍒ゆ柇灏忚溅鏄惁宸茬寮�
if (!liftProtocol.getHasCar()) {
- LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//鑾峰彇灏忚溅宸查┚绂诲懡浠�
+ List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//鑾峰彇灏忚溅宸查┚绂诲懡浠�
if(signalCommand != null) {
boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
if (!hasKey) {
@@ -419,7 +421,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
+ list.addAll(signalCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
return false;
@@ -458,13 +460,13 @@
}
})) {
//瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
--
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