From a1d108d95ac087c16557a11c58098cf76d967cb2 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期六, 13 四月 2024 10:36:10 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 24 +++++++++++++-----------
1 files changed, 13 insertions(+), 11 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index 7eef25c..df7c5af 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.core.kernel.command;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
@@ -29,10 +30,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-import java.util.Optional;
+import java.util.*;
/**
* Created by vincent on 2023/10/23
@@ -99,7 +97,7 @@
// 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
.eq(Loc::getLocNo, motion.getTarget())
- .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -260,11 +258,11 @@
return true;
}
-// if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
-// && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
-// ) {
-// return false;
-// }
+ if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
+ && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
+ ) {
+ return false;
+ }
//鍒ゆ柇璁惧鏄惁绌洪棽
if (!shuttleThread.isIdle()) {
@@ -341,7 +339,11 @@
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
}
- List<NavigateNode> allNode = new ArrayList<>(nodeList);
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ for (NavigateNode node : nodeList) {
+ allNode.add(node.clone());
+ }
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
--
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