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| | | package com.zy.asrs.wcs.core.kernel.command; |
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| | | |
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| | | import com.alibaba.fastjson.JSON; |
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| | | import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; |
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| | | import com.zy.asrs.framework.common.Cools; |
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| | | import com.zy.asrs.framework.exception.CoolException; |
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| | | import org.springframework.beans.factory.annotation.Autowired; |
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| | | import org.springframework.stereotype.Service; |
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| | | |
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| | | import java.util.ArrayList; |
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| | | import java.util.List; |
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| | | import java.util.Objects; |
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| | | import java.util.Optional; |
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| | | import java.util.*; |
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| | | |
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| | | /** |
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| | | * Created by vincent on 2023/10/23 |
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| | |
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| | | // 如果已经在当前条码则过滤 |
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| | | if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>() |
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| | | .eq(Loc::getLocNo, motion.getTarget()) |
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| | | .eq(Loc::getHostId, motion.getHostId())).getCode())) { |
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| | | .eq(Loc::getHostId, motion.getHostId())).getCode())) { |
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| | | return true; |
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| | | } |
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| | | shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); |
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| | |
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| | | News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo); |
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| | | return null; |
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| | | } |
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| | | List<NavigateNode> allNode = new ArrayList<>(nodeList); |
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| | | |
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| | | List<NavigateNode> allNode = new ArrayList<>(); |
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| | | for (NavigateNode node : nodeList) { |
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| | | allNode.add(node.clone()); |
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| | | } |
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| | | |
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| | | List<ShuttleCommand> commands = new ArrayList<>(); |
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| | | //获取分段路径 |
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