From f510760823f431891a501cd556928e215702ddb7 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期六, 19 四月 2025 13:36:11 +0800
Subject: [PATCH] 999

---
 src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java |   29 ++++++++++++++++++++---------
 1 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
index ac67184..29d5f64 100644
--- a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
+++ b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
@@ -43,7 +43,6 @@
     private ForkLiftSlave slave;
     private ForkLiftProtocol forkLiftProtocol;
     private RedisUtil redisUtil;
-    private SiemensS7Net siemensS7Net;
     private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
     private LfdZyForkLiftMasterThread masterThread;
 
@@ -70,7 +69,6 @@
         if(masterThread != null) {
             result = true;
             this.masterThread = masterThread;
-            this.siemensS7Net = masterThread.getSiemensS7Net();
         }
         return result;
     }
@@ -141,6 +139,7 @@
                 OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
             }
 
+            SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
             if (result1.IsSuccess) {
                 if (null == forkLiftProtocol) {
                     forkLiftProtocol = new ForkLiftProtocol();
@@ -305,6 +304,7 @@
         if (this.forkLiftProtocol.getTaskNo() == null
                 || this.forkLiftProtocol.getProtocolStatus() == null
                 || this.forkLiftProtocol.getModel() == null
+                || this.forkLiftProtocol.getErrorCode() == null
         ) {
             return false;
         }
@@ -312,7 +312,9 @@
         boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                 && this.forkLiftProtocol.getWrkNo() == 0
                 && this.forkLiftProtocol.getTaskNo() == 0
-                && this.forkLiftProtocol.getModel() == 2;
+                && this.forkLiftProtocol.getModel() == 2
+                && this.forkLiftProtocol.getErrorCode() == 0
+                ;
         return res;
     }
 
@@ -333,13 +335,16 @@
         if (this.forkLiftProtocol.getTaskNo() == null
                 || this.forkLiftProtocol.getProtocolStatus() == null
                 || this.forkLiftProtocol.getModel() == null
+                || this.forkLiftProtocol.getErrorCode() == null
         ) {
             return false;
         }
 
         boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                 && this.forkLiftProtocol.getWrkNo() == 0
-                && this.forkLiftProtocol.getModel() == 2;
+                && this.forkLiftProtocol.getModel() == 2
+                && this.forkLiftProtocol.getErrorCode() == 0
+                ;
         return res;
     }
 
@@ -370,13 +375,16 @@
 
     @Override
     public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
+        Integer realPick = pick % 1000;
+        Integer realPut = put % 1000;
+
         List<ForkLiftCommand> commands = new ArrayList<>();
         ForkLiftCommand command = new ForkLiftCommand();
         command.setLiftNo(slave.getId());
         command.setTaskNo(taskNo.shortValue());
         command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
-        command.setPick(pick.shortValue());
-        command.setPut(put.shortValue());
+        command.setPick(realPick.shortValue());
+        command.setPut(realPut.shortValue());
         command.setConfirm((short) 1);
 
         commands.add(command);
@@ -384,14 +392,17 @@
     }
 
     @Override
-    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
+    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
+        Integer realPick = pick % 1000;
+        Integer realPut = put % 1000;
+
         List<ForkLiftCommand> commands = new ArrayList<>();
         ForkLiftCommand command = new ForkLiftCommand();
         command.setLiftNo(slave.getId());
         command.setTaskNo(taskNo.shortValue());
         command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
-        command.setPick(originLev.shortValue());
-        command.setPut(targetLev.shortValue());
+        command.setPick(realPick.shortValue());
+        command.setPut(realPut.shortValue());
         command.setConfirm((short) 1);
 
         commands.add(command);

--
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