Merge remote-tracking branch 'origin/jx-test' into jx-test

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 +596,10 @@ public abstract class AmrAgvItem  extends ExecutorItem {
                 } else {
                     deviceTask.goodsSlotHeight = 1;
                 }
+                if (sequence.getUnloadHeight() > 0d) {
+                    deviceTask.goodsSlotHeight = (int) Math.round(sequence.getLoadHeight() * 1000);
+                    log.info("option.loadHeight = {}", deviceTask.goodsSlotHeight);
+                }
                 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 +664,10 @@ public abstract class AmrAgvItem  extends ExecutorItem {
                 } else {
                     deviceTask.goodsSlotHeight = 1;
                 }
+                if (sequence.getUnloadHeight() > 0d) {
+                    deviceTask.goodsSlotHeight = (int) Math.round(sequence.getUnloadHeight() * 1000);
+                    log.info("option.unloadHeight = {}", deviceTask.goodsSlotHeight);
+                }
                 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

@@ -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 double getLoadHeight() {
+        if (this.option == null || this.option.get("loadHeight") == null) {
+            return 0d;
+        }
+        return Conv.asDouble(this.option.get("loadHeight"));
+    }
+
+    public double getUnloadHeight() {
+        if (this.option == null || this.option.get("unloadHeight") == null) {
+            return 0d;
+        }
+        return Conv.asDouble(this.option.get("unloadHeight"));
+    }
+
     public int completedCount() {
         int count = 0;
         for (RcsTaskPlan task : taskList) {

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);