Merge remote-tracking branch 'origin/jxgtwcs' into jxgtwcs

zjj

2025-06-09 80d97d40c44165674ee0168be5f08c8ca52d3c06

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java

@@ -335,11 +335,13 @@
                motion.setReleaseLift(target.getReleaseLift());
            }

            List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
            if (nodeList == null) {
                throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
            if (motion.getOrigin() != null && motion.getTarget() != null) {
                List<NavigateNode> nodeList = navigateUtils.calc(motion.getOrigin(), motion.getTarget(), NavigationMapType.NONE_LOCK.id, Utils.getShuttlePoints(Integer.parseInt(target.getShuttleDevice().getDeviceNo()), Utils.getLev(motion.getTarget())));
                if (nodeList == null) {
                    throw new CoolException(motion.getOrigin() + " dash " + motion.getTarget() + " can't find navigate path!");
                }
                motion.setMovePath(JSON.toJSONString(nodeList));
            }
            motion.setMovePath(JSON.toJSONString(nodeList));

        }));