From c9c80ecde06d151f4f2f3ccf46d3f4c0e65cd8a1 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 23 九月 2025 13:13:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 9 ++++++---
1 files changed, 6 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 1909575..861cbb1 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -6,6 +6,7 @@
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.enums.ShuttleProtocolStatusType;
+import com.zy.core.enums.ShuttleRequireChargeType;
import com.zy.core.enums.ShuttleTaskNoType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.ShuttleCommand;
@@ -42,7 +43,7 @@
boolean isDeviceIdle(ExecuteSupport support);//璁惧鏄惁绌洪棽
- boolean isRequireCharge();//鏄惁婊¤冻鍏呯數鐘舵��
+ ShuttleRequireChargeType isRequireCharge();//鏄惁婊¤冻鍏呯數鐘舵��
boolean isCharging();//鏄惁鍏呯數涓�
@@ -76,11 +77,13 @@
JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);
- boolean restartCalcPath();
+ boolean restartCalcPath();//閲嶆柊瑙勫垝璺緞
//***************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
+ ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean shuttleDirectionReverse);//鑾峰彇绉诲姩鍛戒护
+
+ ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse);//鑾峰彇绉诲姩鍛戒护
ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//椤跺崌鍛戒护 true=>椤跺崌 false=>涓嬮檷
--
Gitblit v1.9.1