From f09b972bb7adf8d4fd75fcb87c85973e493432a8 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 30 四月 2024 11:14:20 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 27 +++++++++++++++++----------
1 files changed, 17 insertions(+), 10 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 977fba7..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;
@@ -31,6 +33,7 @@
import java.util.ArrayList;
import java.util.List;
+import java.util.Objects;
@Component
public class ShuttleAction {
@@ -109,16 +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)) {
@@ -222,6 +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));
--
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