From efa3e3042d30506b8eb3ce662d39c4dd954ae945 Mon Sep 17 00:00:00 2001 From: Junjie <540245094@qq.com> Date: 星期五, 25 七月 2025 13:35:27 +0800 Subject: [PATCH] # --- src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java | 11 +---------- src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 22 ++++++++++++++++++++++ src/main/java/com/zy/core/thread/ShuttleThread.java | 2 +- 3 files changed, 24 insertions(+), 11 deletions(-) diff --git a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java index 5d80355..6dc4523 100644 --- a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java +++ b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java @@ -34,16 +34,7 @@ private Integer deviceTaskNo = 0; /** - * 浣滀笟绫诲瀷 - * 1: 鍏ュ簱 - * 2锛� 鍑哄簱 - * 3锛� 鎵樼洏椤跺崌 - * 4锛� 鎵樼洏涓嬮檷 - * 5锛� 宸︾Щ - * 6锛� 鍙崇Щ - * 7锛� 鍓嶇Щ - * 8锛� 鍚庣Щ - * 9: 鍏呯數 + * 浣滀笟绫诲瀷 ShuttleTaskModeType */ private Integer taskMode = 0; diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java index 1909575..060e27d 100644 --- a/src/main/java/com/zy/core/thread/ShuttleThread.java +++ b/src/main/java/com/zy/core/thread/ShuttleThread.java @@ -76,7 +76,7 @@ JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol); - boolean restartCalcPath(); + boolean restartCalcPath();//閲嶆柊瑙勫垝璺緞 //***************鑾峰彇鍛戒护***************** diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java index 58ecf5e..0baeb1e 100644 --- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java +++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java @@ -934,6 +934,28 @@ if (commands == null) { return false; } + + if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) { + List<ShuttleCommand> originCommands = assignCommand.getCommands(); + if (originCommands == null) { + return false; + } + + ShuttleCommand firstCommand = originCommands.get(0); + ShuttleCommand endCommand = originCommands.get(commands.size() - 1); + + if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) { + return false; + } + + if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) { + return false; + } + + commands.add(0, firstCommand); + commands.add(endCommand); + } + assignCommand.setCommands(commands); //涓嬪彂浠诲姟 -- Gitblit v1.9.1