#

Junjie

2024-06-08 20c607eaa0d2e8e34ab08306c003da4de4773c2c

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java

@@ -24,6 +24,7 @@
import com.zy.asrs.wcs.core.utils.NavigateMapData;
import com.zy.asrs.wcs.core.utils.NavigatePositionConvert;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -324,6 +325,7 @@
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    Integer code = resultBody.getInteger("code");
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", code, device.getId(), device.getIp(), device.getPort()));
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
                    //发出请求
@@ -613,6 +615,7 @@
    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
@@ -631,6 +634,18 @@
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }

                //将路径锁与小车路径进行匹配
                ArrayList<NavigateNode> tmp = new ArrayList<>();
                //检测路径是否被锁定
                int[][] map = navigateMapData.getDataFromRedis(NavigationMapType.DFX.id, null, null);
                for (NavigateNode node : path) {
                    if(map[node.getX()][node.getY()] == -999) {
                        tmp.add(node);
                    }
                }

                path = tmp;
            }
        }
        return path;