From c17dca99fe2cc8632cd294901525e85f369dbb93 Mon Sep 17 00:00:00 2001 From: yvan Date: Sat, 26 Jul 2025 13:22:37 +0800 Subject: [PATCH] PlanTaskSequence.option, loadHeight / unloadHeight --- servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java | 8 +++++++- .../src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java | 12 ++++++------ 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java b/servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java index 1277282..cfade98 100644 --- a/servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java +++ b/servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java @@ -27,7 +27,7 @@ import java.util.concurrent.BlockingQueue; import java.util.concurrent.locks.LockSupport; @Slf4j -public abstract class AmrAgvItem extends ExecutorItem { +public abstract class AmrAgvItem extends ExecutorItem { private static final int BLOCKING_QUEUE_CAPACITY = 100; private static final Redis redis = RedisAdmin.getRedis(); @@ -596,6 +596,9 @@ public abstract class AmrAgvItem extends ExecutorItem { } else { deviceTask.goodsSlotHeight = 1; } + if (sequence.getUnloadHeight() > 0d) { + deviceTask.goodsSlotHeight = (int) Math.round(sequence.getLoadHeight() * 1000); + } if (linkStore != null) { for (Map store : linkStore) { if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) { @@ -660,6 +663,9 @@ public abstract class AmrAgvItem extends ExecutorItem { } else { deviceTask.goodsSlotHeight = 1; } + if (sequence.getUnloadHeight() > 0d) { + deviceTask.goodsSlotHeight = (int) Math.round(sequence.getUnloadHeight() * 1000); + } if (linkStore != null) { for (Map store : linkStore) { if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) { 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 554796e..c2b12fd 100644 --- a/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java +++ b/servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java @@ -211,18 +211,18 @@ public class PlanTaskSequence { return this.taskList.size(); } - public float getLoadHeight() { + public double getLoadHeight() { if (this.option == null || this.option.get("loadHeight") == null) { - return 0f; + return 0d; } - return Conv.asFloat(this.option.get("loadHeight")); + return Conv.asDouble(this.option.get("loadHeight")); } - public float getUnloadHeight() { + public double getUnloadHeight() { if (this.option == null || this.option.get("unloadHeight") == null) { - return 0f; + return 0d; } - return Conv.asFloat(this.option.get("unloadHeight")); + return Conv.asDouble(this.option.get("unloadHeight")); } public int completedCount() {