From bb1430c419fea99d27450c905e86e024683b227c Mon Sep 17 00:00:00 2001
From: yvan <luoyifan@qq.com>
Date: Sat, 26 Jul 2025 12:58:40 +0800
Subject: [PATCH] PlanTaskSequence.option, loadHeight / unloadHeight

---
 .../java/com/galaxis/rcs/plan/PlanTaskSequence.java    | 18 +++++++++++++++++-
 .../com/yvan/workbench/controller/RcsController.java   |  3 +++
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
index c6180b7..554796e 100644
--- a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
+++ b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
@@ -12,6 +12,7 @@ import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
 import lombok.extern.slf4j.Slf4j;
+import org.clever.core.Conv;
 import org.clever.core.id.SnowFlake;
 import org.clever.core.json.JsonWrapper;
 
@@ -39,6 +40,7 @@ public class PlanTaskSequence {
     public BasLocationVo unloadBasLocationVo;
     public BasLocationVo executorVo;
     public int carryQty;
+    public Map<String, Object> option;
 
     public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
         this.executorId = executorId;
@@ -65,7 +67,7 @@ public class PlanTaskSequence {
         return planTask;
     }
 
-    public ExecutorItem getAgv(){
+    public ExecutorItem getAgv() {
         return this.logisticsRuntime.executorItemMap.get(this.executorId);
     }
 
@@ -209,6 +211,20 @@ public class PlanTaskSequence {
         return this.taskList.size();
     }
 
+    public float getLoadHeight() {
+        if (this.option == null || this.option.get("loadHeight") == null) {
+            return 0f;
+        }
+        return Conv.asFloat(this.option.get("loadHeight"));
+    }
+
+    public float getUnloadHeight() {
+        if (this.option == null || this.option.get("unloadHeight") == null) {
+            return 0f;
+        }
+        return Conv.asFloat(this.option.get("unloadHeight"));
+    }
+
     public int completedCount() {
         int count = 0;
         for (RcsTaskPlan task : taskList) {
diff --git a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
index 41327db..d98e8ff 100644
--- a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
+++ b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java
@@ -224,6 +224,7 @@ public class RcsController {
         ps.planSequence.unloadBasLocationVo = new BasLocationVo(unloadBasLocation);
         ps.planSequence.carryLpn = lpn;
         ps.planSequence.carryQty = 1;
+        ps.planSequence.option = ps.option;
 
         ps.runtime.pathPlannerMap.get(ps.agv.getT())
             .planCarryTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, carryTask);
@@ -289,6 +290,7 @@ public class RcsController {
         ps.planSequence.unloadBasLocationVo = new BasLocationVo(unloadBasLocation);
         ps.planSequence.carryLpn = lpn;
         ps.planSequence.carryQty = 1;
+        ps.planSequence.option = ps.option;
 
         ps.runtime.pathPlannerMap.get(ps.agv.getT())
             .planUnloadTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, unloadTask);
@@ -353,6 +355,7 @@ public class RcsController {
         ps.planSequence.unloadBasLocationVo = null;
         ps.planSequence.carryLpn = lpn;
         ps.planSequence.carryQty = 1;
+        ps.planSequence.option = ps.option;
 
         ps.runtime.pathPlannerMap.get(ps.agv.getT())
             .planLoadTask(ps.planSequence, ps.fromItem.getId(), ps.fromDirection, loadTask);