#

Junjie

2024-06-06 627f9f28c8a19d9deae694c11c10dec1d4593270

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

@@ -46,7 +46,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {

    private static final String API_URL = "http://127.0.0.1:8082";
    private static final String API_URL = "http://192.168.7.149:8082";

    private Device device;
    private RedisUtil redisUtil;
@@ -238,6 +238,16 @@
    @Override
    public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
        try {
            //默认地图母轨方向x
            String mapDirection = "x";
            DictService dictService = SpringUtils.getBean(DictService.class);
            Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "direction_map")
                    .eq(Dict::getStatus, 1));
            if (dict != null) {
                mapDirection = dict.getValue();
            }

            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
@@ -262,13 +272,13 @@
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
                if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                        || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
                    //子轨方向
                    oper = 6;
                } else {
                    //母轨方向
                    oper = 5;
                } else {
                    //子轨方向
                    oper = 6;
                }

                for (int i = 0; i < sectionNodes.size(); i++) {