From 5c0622d48c825ca4b75f63dda78d51ed75bc7a2f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 12 四月 2024 11:04:19 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java | 32 ++++++++++++++++++++++++++++----
1 files changed, 28 insertions(+), 4 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java
index 4488848..13544ee 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java
@@ -1,8 +1,12 @@
package com.zy.asrs.wcs.rcs.thread;
+import com.zy.asrs.wcs.common.ExecuteSupport;
+import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+
+import java.util.List;
public interface ShuttleThread extends ThreadHandler{
@@ -10,14 +14,34 @@
Device getDevice();//鑾峰彇璁惧淇℃伅
- boolean movePath();//璺緞涓嬪彂
+ boolean movePath(List<NavigateNode> nodes, Integer taskNo);//璺緞涓嬪彂
- boolean move();//绉诲姩
+ boolean move(ShuttleCommand command);//绉诲姩
- boolean lift();//椤跺崌
+ boolean lift(ShuttleCommand command);//椤跺崌
+ boolean charge(ShuttleCommand command);//鍏呯數寮�鍏�
+
+ boolean reset(ShuttleCommand command);//澶嶄綅寮�鍏�
+
+ boolean isIdle();
+
+ boolean isIdle(ExecuteSupport support);//鏄惁绌洪棽
+
+ boolean isRequireCharge();//鏄惁婊¤冻鍏呯數鐘舵��
+
+ boolean isCharging();//鏄惁鍏呯數涓�
+
+ boolean isChargingCompleted();//鏄惁鍏呯數瀹屾垚
+
+ List<NavigateNode> getMoveAdvancePath();//鑾峰彇绌挎杞︿换鍔¤矾寰�
//***************鑾峰彇鍛戒护*****************
- ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed);
+
+ ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed);//鑾峰彇绉诲姩鍛戒护
+
+ ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//椤跺崌鍛戒护 true=>椤跺崌 false=>涓嬮檷
+
+ ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//鍏呯數寮�鍏冲懡浠� true=>寮� false=>鍏�
}
--
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