#拣料回库

Junjie

2023-10-14 525047977e8e9074a21567ae9eb5b9f6ac0c07fd

 src/main/java/com/zy/core/thread/NyShuttleThread.java

@@ -388,6 +388,7 @@

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

        boolean isLock = false;//是否解锁路径
        //取出命令
        NyShuttleHttpCommand command = null;
        if (commandStep < commands.size()) {
@@ -403,13 +404,15 @@
                if (shuttleProtocol.getPoint().equals(target)) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径和当前路径
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    if (command != null && command.getNodes() != null) {
                        nodes.addAll(command.getNodes());
                    }
//                    //解锁当前路径
//                    if (command != null && command.getNodes() != null) {
//                        nodes.addAll(command.getNodes());
//                    }
                    if (nodes != null) {
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                        isLock = true;//解锁过路径
                    }
                }
            }else {
@@ -467,15 +470,25 @@

        if (command.getRequest().getBody().get("requestType").equals("move")) {
            ArrayList<int[]> whiteList = new ArrayList<>();//设置节点的白名单
            if (wrkMast != null && (wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200)) {
            if (wrkMast != null && ((wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200) || wrkMast.getIoType() == 11)) {
                //出库任务，不检测首节点
                int[] startArr = NavigatePositionConvert.positionToXY(wrkMast.getSourceLocNo());//开始节点
                whiteList.add(startArr);
            }

            //检测路径是否可行走
            if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
                return false;
            //解锁过路径，只检测下一段路径是否可走(当前路径已经被锁定无需再检测)
            if (isLock) {
                //只检测下一段路径是否可走(当前路径已经被锁定无需再检测)
                //检测路径是否可行走
                if (!checkPath(nextNodes == null ? command.getNodes() : nextNodes, null, whiteList)) {
                    return false;
                }
            }else {
                //检测当前路径和下一段路径
                //检测路径是否可行走
                if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
                    return false;
                }
            }

            //锁定路径，锁定当前路径和下一步路径