From c6bca77cf2603ceebc07fec7ece783c2f9bca74e Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:24:53 +0800
Subject: [PATCH] Base地图更新
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 36 +++++++++++++++++++++++++++---------
1 files changed, 27 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2df784a..025d0e9 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -210,7 +210,7 @@
//灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
- BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId());
if (basShuttle == null) {
basShuttle = new BasShuttle();
//鍥涘悜绌挎杞﹀彿
@@ -467,10 +467,16 @@
commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
break;
case 5://寮哄埗宸︾Щ
+ commands.add(getForceMoveCommand((short) 2));
+ break;
case 6://寮哄埗鍙崇Щ
+ commands.add(getForceMoveCommand((short) 1));
+ break;
case 7://寮哄埗涓婄Щ
+ commands.add(getForceMoveCommand((short) 3));
+ break;
case 8://寮哄埗涓嬬Щ
- commands.add(getForceMoveCommand((short) (assignCommand.getTaskMode() - 4)));
+ commands.add(getForceMoveCommand((short) 4));
break;
case 9://鐘舵�佸浣�
ShuttleCommand reset = getResetCommand();
@@ -918,7 +924,7 @@
* 鑾峰彇鎵樼洏椤跺崌鍛戒护
* @param lift 1椤跺崌锛�2涓嬮檷
*/
- private ShuttleCommand getPalletCommand(Short lift) {
+ public ShuttleCommand getPalletCommand(Short lift) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 2);
command.setStartCodeNum((short) 0);
@@ -938,7 +944,7 @@
* 姝ｅ父绉诲姩鍛戒护
* @return
*/
- private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
+ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
command.setStartCodeNum(startCodeNum);
@@ -957,7 +963,7 @@
* 寮哄埗绉诲姩鍛戒护
* @param direction 绉诲姩鏂瑰悜 1宸︾Щ锛�2鍙崇Щ锛�3鍓嶇Щ锛�4鍚庣Щ
*/
- private ShuttleCommand getForceMoveCommand(Short direction) {
+ public ShuttleCommand getForceMoveCommand(Short direction) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 3);
command.setStartCodeNum((short) 0);
@@ -975,7 +981,7 @@
/**
* 鐘舵�佸浣嶅懡浠�
*/
- private ShuttleCommand getResetCommand() {
+ public ShuttleCommand getResetCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 6);
command.setStartCodeNum((short) 0);
@@ -998,7 +1004,7 @@
* 鑾峰彇瀵诲簱浣嶅懡浠�
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
+ public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 4);
command.setRunDirection(direction);
@@ -1012,14 +1018,14 @@
* 鑾峰彇瀵诲簱浣嶅懡浠わ紝榛樿绉诲姩璺濈3000锛岃繍琛岄�熷害1000
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction) {
+ public ShuttleCommand getFindLocCommand(Short direction) {
return getFindLocCommand(direction, 3000, (short) 1000);
}
/**
* 鑾峰彇鍏呯數寮�鍏冲懡浠�
*/
- private ShuttleCommand getChargeSwitchCommand() {
+ public ShuttleCommand getChargeSwitchCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 8);
command.setIOControl((short) 4);
@@ -1027,6 +1033,18 @@
return command;
}
+ /**
+ * charge锛�1=>寮�濮嬪厖鐢碉紝2=>鏂紑鍏呯數
+ */
+ public ShuttleCommand getChargeSwitchCommand(Short charge) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);//鍏呯數
+ command.setShuttleNo(shuttleProtocol.getShuttleNo());
+ command.setChargeSwitch(charge);//寮�濮嬪厖鐢�
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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