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
--
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