|
@@ -705,7 +705,7 @@ public class TaskWorkNode {
|
|
|
//满足条件--机器人空闲，设备或线边库有一个空闲
|
|
//满足条件--机器人空闲，设备或线边库有一个空闲
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", startStore);
|
|
locationMap.put("location", startStore);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
|
|
|
|
|
dataMap.put("method", "MoveRobotPosition");
|
|
dataMap.put("method", "MoveRobotPosition");
|
|
|
}
|
|
}
|
|
@@ -718,7 +718,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", currentStore);
|
|
locationMap.put("location", currentStore);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
//出入库类型
|
|
//出入库类型
|
|
|
dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
|
|
dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
|
|
|
//目的地为机器人手臂
|
|
//目的地为机器人手臂
|
|
@@ -735,7 +735,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", hcwStorge);
|
|
locationMap.put("location", hcwStorge);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
|
|
|
|
|
dataMap.put("toStorge", hcwStorge);
|
|
dataMap.put("toStorge", hcwStorge);
|
|
|
dataMap.put("result", true);
|
|
dataMap.put("result", true);
|
|
@@ -752,7 +752,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", hcwStorge);
|
|
locationMap.put("location", hcwStorge);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
|
|
|
|
|
dataMap.put("fromStorge", hcwStorge);
|
|
dataMap.put("fromStorge", hcwStorge);
|
|
|
Storge handStorge = (Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_JXS + taskNode.getId());
|
|
Storge handStorge = (Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_JXS + taskNode.getId());
|
|
@@ -766,7 +766,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", targetStorge);
|
|
locationMap.put("location", targetStorge);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
|
|
|
|
|
dataMap.put("toStorge", targetStorge);
|
|
dataMap.put("toStorge", targetStorge);
|
|
|
|
|
|
|
@@ -791,7 +791,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", startStore);
|
|
locationMap.put("location", startStore);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
//出入库类型
|
|
//出入库类型
|
|
|
dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
|
|
dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
|
|
|
//目的地为机器人手臂
|
|
//目的地为机器人手臂
|
|
@@ -816,7 +816,7 @@ public class TaskWorkNode {
|
|
|
|
|
|
|
|
Map locationMap = new HashMap();
|
|
Map locationMap = new HashMap();
|
|
|
locationMap.put("location", targetStorge);
|
|
locationMap.put("location", targetStorge);
|
|
|
- dataMap.put("Data", locationMap);
|
|
|
|
|
|
|
+ dataMap.put("data", locationMap);
|
|
|
}
|
|
}
|
|
|
dataMap.put("result", true);
|
|
dataMap.put("result", true);
|
|
|
}
|
|
}
|
姚云青