#

Junjie

2025-01-14 900f7032f7e701efd4741c2bcabeaad969e5fd3f

 src/main/java/com/zy/common/utils/ShuttleOperaUtils.java

@@ -78,6 +78,11 @@

        assignCommand.setNodes(allNode);//当前任务所占用的节点list

        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, allNode, true);//锁定路径
        if (!result) {
            News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
            return null;//路径锁定失败
        }
        return commands;
    }

@@ -143,7 +148,7 @@
    /**
     * 获取充电命令
     */
    public synchronized List<ShuttleCommand> shuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
    public synchronized List<ShuttleCommand> getShuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
        List<ShuttleCommand> commands = new ArrayList<>();

        //获取充电命令
@@ -152,6 +157,18 @@
        return commands;
    }

    /**
     * 获取顶升命令
     */
    public synchronized List<ShuttleCommand> getShuttleLiftCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean lift) {
        List<ShuttleCommand> commands = new ArrayList<>();

        //获取顶升命令
        ShuttleCommand command = shuttleThread.getLiftCommand(assignCommand.getDeviceTaskNo(), lift);
        commands.add(command);
        return commands;
    }

//    private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
//        String movePath = motion.getMovePath();
//        if (Cools.isEmpty(movePath)) {