#

Junjie

2024-06-06 627f9f28c8a19d9deae694c11c10dec1d4593270

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -1,8 +1,10 @@
package com.zy.asrs.wcs.core.action;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.Loc;
@@ -70,7 +72,7 @@
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
        if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
            if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id
@@ -135,7 +137,15 @@
                if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
                    command.setComplete(true);
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);//进行深度copy
                    List<NavigateNode> nodes = null;
                    try {
                        String nodesStr = objectMapper.writeValueAsString(command.getNodes());
                        nodes = objectMapper.readValue(nodesStr, new TypeReference<List<NavigateNode>>() {
                        });
                    } catch (JsonProcessingException e) {
                        throw new RuntimeException(e);
                    }

                    if (nodes != null) {
                        NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//最终节点
                        NavigateNode node = nodes.get(nodes.size() - 1);
@@ -175,7 +185,7 @@
            }

            // 更新redis数据
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));

            if (!command.getComplete()) {
                return false;