From 5a2ec88cf71194456a371efda15f3cab5f6225ae Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 20 六月 2024 20:48:41 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 62 +++++++++++-------------------
1 files changed, 23 insertions(+), 39 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 402c46e..230f15c 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
@@ -61,6 +61,8 @@
private ShuttleAction shuttleAction;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -141,11 +143,11 @@
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -156,24 +158,13 @@
return true;
}
})) {
- //閿佸畾鎻愬崌鏈�
- 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.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -189,11 +180,11 @@
return false;
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -204,27 +195,13 @@
return true;
}
})) {
- //閿佸畾鎻愬崌鏈�
- 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;
- }
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -246,6 +223,10 @@
case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
+ break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
+ shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
@@ -363,6 +344,7 @@
list.addAll(signalCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
+ redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), true, 120);
return false;
}
}
@@ -483,6 +465,8 @@
liftThread.setSyncTaskNo(0);
}
break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ break;
default:
break;
}
--
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