From 97aa2cd09e92f73cd4dff3d99eaef64e748c80b3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 六月 2023 19:04:32 +0800
Subject: [PATCH] 优化出库小车避让
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 18 +++++++++++++++---
1 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index d6b95ac..88b5ab8 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -729,6 +729,9 @@
// }
// }
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
int commandStep = redisCommand.getCommandStep();
@@ -744,6 +747,14 @@
if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
//涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
command.setComplete(true);
+
+ //涓婁竴鏉℃寚浠よ捣鐐规槸鎻愬崌鏈轰簩缁寸爜锛屽垯娓呴浂鎻愬崌鏈轰换鍔″彿
+ if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂�
+ if (liftProtocol.isIdleNoTask()) {
+ liftProtocol.setTaskNo((short) 0);//娓呯┖浠诲姟鍙�
+ }
+ }
}
} else if (command.getCommandWord().intValue() == 2) {
//鎵樼洏椤跺崌鍛戒护
@@ -805,9 +816,6 @@
}
}
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-
//鍒ゆ柇灏忚溅褰撳墠浜岀淮鐮佹槸鍚︿负鎻愬崌鏈轰簩缁寸爜
if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
@@ -844,6 +852,9 @@
if (!staProtocol.isLiftArrival()) {
return false;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse锛岀姝笅鍙戝懡浠�
}
+
+ //鏉′欢婊¤冻锛屽崰鐢ㄦ彁鍗囨満
+ liftProtocol.setTaskNo(wrkNo);
}
}
@@ -1046,6 +1057,7 @@
return true;
}else {
if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
+ liftProtocol.setTaskNo(wrkNo);//缁欐彁鍗囨満鍐欏伐浣滃彿锛岄槻姝㈣鍗犵敤
return true;//鎻愬崌鏈哄埌浣�
}
executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
--
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