From e1783e196a4ada918268b9f81bfb3a19641e0626 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:24:09 +0800
Subject: [PATCH] 提升机状态读取、提升机高度设定、提升机操作方案
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 253 +++++++++++--------------------------------------
1 files changed, 59 insertions(+), 194 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index ca20843..e462e8a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -640,13 +640,13 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
- StaProtocol staProtocol105 = devpThread.getStation().get(105);
- staProtocol105.setWorkNo((short) 752);
- staProtocol105.setStaNo((short) 100);
-
- StaProtocol staProtocol106 = devpThread.getStation().get(106);
- staProtocol106.setWorkNo((short) 753);
- staProtocol106.setStaNo((short) 100);
+// StaProtocol staProtocol105 = devpThread.getStation().get(105);
+// staProtocol105.setWorkNo((short) 752);
+// staProtocol105.setStaNo((short) 100);
+//
+// StaProtocol staProtocol106 = devpThread.getStation().get(106);
+// staProtocol106.setWorkNo((short) 753);
+// staProtocol106.setStaNo((short) 100);
if (staProtocol == null) {
continue;
@@ -708,18 +708,15 @@
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread);
if (wrkMast.getWrkSts() == 8) {
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鎻愬崌鏈哄彛浜岀淮鐮�
+ Short runDirection = commands.get(0).getRunDirection();//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
}
assignCommand.setCommands(commands);
@@ -732,7 +729,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
@@ -756,7 +753,7 @@
}
//鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
List<ShuttleCommand> commands = new ArrayList<>();
@@ -776,29 +773,12 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
commands.add(command);
}
@@ -811,7 +791,7 @@
}
//鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
List<ShuttleCommand> commands = new ArrayList<>();
@@ -832,37 +812,17 @@
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
commands.add(command);
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 1);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 1));
//璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
@@ -881,37 +841,16 @@
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
+ commands.add(moveCommand);
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
- command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 2);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 2));
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
@@ -1001,7 +940,7 @@
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -1012,7 +951,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
//灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(liftLocNo);
@@ -1020,17 +959,13 @@
wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
}
} else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈轰簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection());
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
@@ -1272,44 +1207,22 @@
//鎻愬崌鏈哄綋鍓嶆ゼ灞�
int liftLev = liftProtocol.getLev().intValue();
if (liftLev != 1) {
- //鎻愬崌鏈轰笉鍦�1灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) 1);//鐩爣妤煎眰1灞�
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鎻愬崌鏈轰笉鍦�1灞傦紝鑾峰彇鍒�1灞傜殑鎻愬崌鏈哄懡浠�
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) 1);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
}
- //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
+ //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(鍙嶈浆)
//杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
}else {
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
@@ -1338,45 +1251,24 @@
int liftLev = liftProtocol.getLev().intValue();
if (liftLev != currentLocNoLey) {
//涓嶅悓妤煎眰
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) currentLocNoLey);//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) currentLocNoLey);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
}
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
if (liftLev != currentLocNoLey) {
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
}
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓(鍙嶈浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
}
@@ -2261,7 +2153,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//杩涜鍏呯數涓�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
@@ -2271,11 +2163,7 @@
assignCommand.setCharge(true);//鍏呯數浠诲姟
//鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 1);//寮�濮嬪厖鐢�
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
commands.add(command);
//鎸囦护闆嗗垎閰�
@@ -2292,7 +2180,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
@@ -2342,42 +2230,23 @@
int liftLev = liftProtocol.getLev().intValue();
if (liftLev != currentLev) {
//绌挎杞﹀拰鎻愬崌鏈哄浜庝笉鍚屾ゼ灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition(currentLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev.shortValue());
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
}
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition(chargeLocNoLev.shortValue());//鍏呯數搴撲綅鐩爣妤煎眰
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev.shortValue());
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓(鍙嶈浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
@@ -2404,11 +2273,7 @@
assignCommand.setCharge(true);
//鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 2);//鏂紑鍏呯數
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
commands.add(command);
//鎸囦护闆嗗垎閰�
--
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