小车出库放完后货，行驶到母轨进行退让

Junjie

2023-06-20 e74708ae35b2ad051af052bf542741bf7cd01ec4

小车出库放完后货，行驶到母轨进行退让

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

@@ -1066,6 +1066,21 @@
                                //未找到路径，等待下一次
                                continue;
                            }

                            //获取当前小车所在楼层的站点信息
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                            if (locMast1 == null) {
                                continue;//找不到库位
                            }
                            short disCode = Short.parseShort(locMast1.getQrCodeValue());
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                            commands.add(moveCommand);

                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                            //分配任务号
@@ -1190,6 +1205,9 @@
            }

            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
            if (shuttleLocNo == null) {
                continue;
            }
            int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
            if (lev == shuttleLocNoLey) {
                //工作档楼层相同的穿梭车