| | |
|---|
| | | sortedList.add(actionList.get(i)); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | Action action = actionList.get(lastActionIndex); |
|---|
| | | action.setActionSts(ActionStsType.NEXT.val()); |
|---|
| | | actionService.updateById(action); |
|---|
| | | actionList = sortedList; |
|---|
| | | } |
|---|
| | | |
|---|
| | | Action shang = actionService.getOne(new LambdaQueryWrapper<Action>().eq(Action::getAgvId, agvId).eq(Action::getActionSts, ActionStsType.PREPARE.val()).eq(Action::getActionType, ActionTypeType.ReadyReleaseToAgvSite.val()).orderByDesc(Action::getId)); |
|---|
| | | Action shang = actionService.getOne(new LambdaQueryWrapper<Action>().eq(Action::getAgvId, agvId).eq(Action::getActionSts, ActionStsType.NEXT.val()).eq(Action::getActionType, ActionTypeType.ReadyReleaseToAgvSite.val()).ne(Action::getGroupId,actionGroupId)); |
|---|
| | | if (shang != null) { |
|---|
| | | int turnCornerIdx = actionSorter.findFirstActionIndex(actionList, ActionTypeType.TurnCorner.val()); |
|---|
| | | if (turnCornerIdx == -1) { |
|---|
