#

taisheng

6 天以前 4453cdecbc6e7a925ae76e3223418654f1cf0b18

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -542,6 +542,15 @@
                return false;
            }

            //检测障碍物车
            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
                add(shuttleProtocol.getShuttleNo());
            }});
            if (checkObstacle) {
                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
@@ -567,8 +576,8 @@
                return false;
            }

            commands.add(0, liftCommand.get(0));
            commands.add(liftCommand2.get(0));
//            commands.add(0, liftCommand.get(0));
//            commands.add(liftCommand2.get(0));
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中  501.生成移库任务 ==> 502.小车搬运中
@@ -1766,15 +1775,6 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径计算失败
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            assignCommand.setCommands(commands);