From c036b0582e39b53516d88f26df587b5a61c4b2f2 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 17 四月 2024 10:32:47 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 47 ++++++++++++++++++++++++-----------------------
1 files changed, 24 insertions(+), 23 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 33e9853..e799b7b 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
@@ -81,7 +81,8 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
- assignCommand.setTaskNo(motion.getWrkNo());
+ assignCommand.setTaskNo(motion.getTaskNo());
+ assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
assignCommand.setSourceLocNo(motion.getOrigin());
assignCommand.setLocNo(motion.getTarget());
assignCommand.setDeviceId(Integer.parseInt(motion.getDevice()));
@@ -106,12 +107,12 @@
case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
- shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
- shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
// 鍒ゆ柇鎻愬崌鏈虹姸鎬�
@@ -151,7 +152,7 @@
// }
//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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
@@ -188,7 +189,7 @@
// }
//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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
@@ -197,21 +198,21 @@
break;
case SHUTTLE_CHARGE_ON://鍏呯數寮�
shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
- shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
- shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
- shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
- shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
@@ -245,24 +246,24 @@
return false;
}
- if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+ if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
//鍏呯數浠诲姟
if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
// 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setPakMk(true);
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
return true;
}
-// if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
-// && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
-// ) {
-// return false;
-// }
+ if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
+ && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
+ ) {
+ return false;
+ }
//鍒ゆ柇璁惧鏄惁绌洪棽
if (!shuttleThread.isIdle()) {
@@ -308,7 +309,7 @@
// }
//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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
@@ -323,9 +324,9 @@
}
// 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setPakMk(true);
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
return true;
}
@@ -361,7 +362,7 @@
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
//鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
+ ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(command);
}
--
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