From 0f69561e397093b5165c4aac58530721d5c62178 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 25 十一月 2024 11:03:16 +0800
Subject: [PATCH] #led
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java | 24 ++++++++++++++++++------
1 files changed, 18 insertions(+), 6 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 31cf9a5..7c9f4f2 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
@@ -1,10 +1,12 @@
package com.zy.asrs.wcs.rcs.thread;
import com.zy.asrs.wcs.common.ExecuteSupport;
+import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
@@ -12,19 +14,23 @@
public interface ShuttleThread extends ThreadHandler{
- ShuttleProtocol getStatus();//鑾峰彇鍥涘悜绌挎杞︾姸鎬�
+ ShuttleProtocol getStatus(boolean clone);//鑾峰彇鍥涘悜绌挎杞︾姸鎬�
+
+ ShuttleProtocol getStatus();//鑾峰彇鍥涘悜绌挎杞︾姸鎬�-榛樿clone
Device getDevice();//鑾峰彇璁惧淇℃伅
- boolean movePath(List<NavigateNode> nodes, Integer taskNo);//璺緞涓嬪彂
+ CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//璺緞涓嬪彂
- boolean move(ShuttleCommand command);//绉诲姩
+ CommandResponse move(ShuttleCommand command);//绉诲姩
- boolean lift(ShuttleCommand command);//椤跺崌
+ CommandResponse lift(ShuttleCommand command);//椤跺崌
- boolean charge(ShuttleCommand command);//鍏呯數寮�鍏�
+ CommandResponse charge(ShuttleCommand command);//鍏呯數寮�鍏�
- boolean reset(ShuttleCommand command);//澶嶄綅寮�鍏�
+ CommandResponse reset(ShuttleCommand command);//澶嶄綅寮�鍏�
+
+ CommandResponse updateLocation(ShuttleCommand command);//鏇存柊鍧愭爣
boolean isIdle();
@@ -50,6 +56,10 @@
boolean setPakMk(boolean pakMk);//璁剧疆鏍囪
+ boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable);
+
+ boolean requestWaiting();
+
//***************鑾峰彇鍛戒护*****************
ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//鑾峰彇绉诲姩鍛戒护
@@ -58,4 +68,6 @@
ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//鍏呯數寮�鍏冲懡浠� true=>寮� false=>鍏�
+ ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo);//鑾峰彇鏇存柊鍧愭爣鍛戒护
+
}
--
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