#path similarity

Junjie

2024-12-11 81188cbe3d51e951ce4c853edb886272a4eb51a3

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

@@ -4,6 +4,7 @@
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.utils.*;
@@ -124,12 +125,16 @@
        for (NavigateNode node : nodes) {
            List<MapNode> listX = map.get(node.getX());
            MapNode mapNode = listX.get(node.getY());
            if (mapNode.getLockDeviceNo() != null && !mapNode.getLockDeviceNo().equals(shuttleProtocol.getShuttleNo())) {
                return false;//路径所属权不是当前设备
            }

            if (lock) {//检测是否锁定
                if (mapNode.getValue() != -999) {
                if (!mapNode.getValue().equals(MapNodeType.LOCK.id)) {
                    return false;//路径未锁定
                }
            }else {//检测是否未锁定
                if(mapNode.getValue() == -999) {
                if(mapNode.getValue().equals(MapNodeType.LOCK.id)) {
                    return false;//路径已锁定
                }
            }