From 825accaa1ecde7c8b4a6852b92b8da615b624b6f Mon Sep 17 00:00:00 2001
From: tqs <56479841@qq.com>
Date: 星期一, 27 三月 2023 17:16:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 23 +++++++++++++++++++----
1 files changed, 19 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 13db8e1..03e30b5 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -288,7 +288,7 @@
}
//鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) {
+ private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
@@ -299,6 +299,13 @@
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
//璺緞鏁版嵁
map.put("path", data);
+ //璺緞娆℃暟
+ map.put("pathSize", data.size());
+ }else {
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
+ //灞炰簬鍏ュ簱鍑哄簱锛屽繀椤昏璁＄畻璺緞锛屽垯鎶涘嚭寮傚父
+ throw new Exception("鏈兘鎵惧埌杩愯璺緞");
+ }
}
//宸ヤ綔鍙�
@@ -336,11 +343,11 @@
Object o1 = pathList.get(commandStep);
ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);
- size = path.size();
+ size = Integer.parseInt(map.get("pathSize").toString());
//寮�濮嬭矾寰�
JSONObject startPath = JSON.parseObject(path.get(0).toString());
//鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
+ JSONObject endPath = JSON.parseObject(path.get(path.size() - 1).toString());
command.setCommandWord((short) 1);
command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
@@ -372,6 +379,14 @@
command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
command.setCommandEnd((short) 1);
break;
+ case 9://鐘舵�佸浣�
+ command.setCommandWord((short) 0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ break;
+ default:
}
command.setCommandEnd((short) 1);
@@ -385,7 +400,7 @@
shuttleProtocol.setPakMk(false);
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size) {
+ if (commandStep < size - 1) {
//鏇存柊redis鏁版嵁
//姝ュ簭澧炲姞
commandStep++;
--
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