From 09cb60c8bcbb4f7371e8b692da9af00c5d4fc538 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 15:22:55 +0800
Subject: [PATCH] 小车行走路径锁定方案，走一步锁两步，走完即解锁
---
src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java | 22 +++++++++++++++++++++-
1 files changed, 21 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
index 7169ca8..9fefa15 100644
--- a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
@@ -5,7 +5,6 @@
import com.zy.asrs.service.BasShuttleService;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.News;
-import com.zy.core.enums.ShuttleErrorCodeType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -55,6 +54,11 @@
* 鐩爣搴撲綅
*/
private String locNo;
+
+ /**
+ * 灏忚溅褰撳墠搴撲綅鍙�
+ */
+ private String currentLocNo;
/**
* 浣滀笟鏍囪
@@ -381,6 +385,12 @@
return JSON.toJSONString(this.getCoord());
}
+ public void setPoint(NyShuttlePointClass point) {
+ String locNo = NavigatePositionConvert.xyzToLocNo(point.getX(), point.getY(), point.getZ());
+ this.point = point;
+ this.currentLocNo = locNo;
+ }
+
// 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
public Boolean isIdle() {
boolean res = this.free == ShuttleStatusType.IDLE.id
@@ -428,4 +438,14 @@
}
}
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+ public Boolean isIdleNoCharge() {
+ boolean res = this.free == ShuttleStatusType.IDLE.id
+ && this.pakMk.equals(true)
+ && this.errState == 0
+ && this.taskNo == 0
+ && this.protocolStatus == ShuttleProtocolStatusType.IDLE.id
+ ;
+ return res;
+ }
}
--
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