PlanTaskSequence.option, loadHeight / unloadHeight

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<String, Object> 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<String, Object> 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())) {

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() {