#

Junjie

23 小时以前 63a8366af4391d1717d7555ab6c01f984f501f7b

 src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java

@@ -228,7 +228,7 @@
        stationCommand.setCommandType(commandType);

        if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
            List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
            List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
            List<Integer> path = new ArrayList<>();
            List<Integer> liftTransferPath = new ArrayList<>();
            for (NavigateNode n : nodes) {
@@ -244,6 +244,11 @@
                if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
                    liftTransferPath.add(stationNo);
                }
            }
            if (path.isEmpty()) {
                log.warn("输送线命令生成失败，路径为空，taskNo={}, stationId={}, targetStationId={}",
                        taskNo, stationId, targetStationId);
                return null;
            }
            stationCommand.setNavigatePath(path);
            stationCommand.setLiftTransferPath(liftTransferPath);
@@ -302,11 +307,11 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
    private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        return navigateUtils.calcByStationId(startStationId, targetStationId);
        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
    }
}