#

Junjie

2025-07-27 db32ffbad65906185ba768a3dc7364337473b1b2

 src/main/java/com/zy/core/action/ShuttleAction.java

@@ -158,6 +158,11 @@

        //移动命令，锁定路径
        if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
            TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
            if (trafficControlThread == null) {
                return false;
            }

            List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
            //申请管制
            boolean apply = applyTrafficControl(commands, nodes, shuttleNo, taskNo);
@@ -178,6 +183,7 @@
            if (!result) {
                News.error("{} device can't lock path!", shuttleNo);
                shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
                trafficControlThread.trafficReportError(shuttleNo, taskNo);
                return false;//路径锁定失败
            }
        }
@@ -411,11 +417,11 @@
                return false;
            }
            if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) {
                command.setComplete(true);
                boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//解锁路径
                if (!result) {
                    return false;//解锁失败
                }
                command.setComplete(true);
            }else {
                return false;
            }