From efbd157c0d810c39d04cd86752e769a3f3a1a1fc Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 11 九月 2025 16:57:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 18 +++++++++++++++++-
1 files changed, 17 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 3ddda33..02d6120 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -1,10 +1,12 @@
package com.zy.core.thread;
+import com.alibaba.fastjson.JSONObject;
import com.zy.common.ExecuteSupport;
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;
@@ -18,6 +20,8 @@
ShuttleProtocol getStatus(boolean clone);//鑾峰彇鍥涘悜绌挎杞︾姸鎬�
ShuttleProtocol getStatus();//鑾峰彇鍥涘悜绌挎杞︾姸鎬�-榛樿clone
+
+ Object getOriginDeviceData();
CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//璺緞涓嬪彂
@@ -39,11 +43,13 @@
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�
boolean isChargingCompleted();//鏄惁鍏呯數瀹屾垚
+
+ boolean isFault();//鏄惁鏁呴殰
List<NavigateNode> getMoveAdvancePath();//鑾峰彇绌挎杞︿换鍔¤矾寰�
@@ -65,10 +71,20 @@
boolean offerSystemMsg(String format, Object... arguments);
+ boolean setTrafficControl(boolean enable, List<NavigateNode> nodeList);
+
+ void updateDeviceDataLogTime(long time);
+
+ JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);
+
+ 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 getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn);//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
ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//鍏呯數寮�鍏冲懡浠� true=>寮� false=>鍏�
--
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