From 0d04e9440d19f30a8220f498ebdde5a8bfcc48a8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 10 十月 2023 13:50:03 +0800
Subject: [PATCH] #机械臂任务下发

---
 src/main/java/com/zy/asrs/controller/ShuttleController.java |    7 ++++++-
 1 files changed, 6 insertions(+), 1 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 2135798..ce01db0 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -17,6 +17,7 @@
 import com.zy.asrs.service.WrkMastService;
 import com.zy.asrs.utils.Utils;
 import com.zy.common.model.NyShuttleOperaResult;
+import com.zy.common.model.enums.NavigationMapType;
 import com.zy.common.service.CommonService;
 import com.zy.common.utils.NyHttpUtils;
 import com.zy.common.utils.NyShuttleOperaUtils;
@@ -299,7 +300,11 @@
                     assignCommand.setNodes(result.getNodes());
                 } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
                     //绉诲姩鍒扮洰鏍囧簱浣�
-                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo());
+                    Integer mapType = NavigationMapType.NORMAL.id;
+                    if (shuttleProtocol.getLiftPosition() == 2) {
+                        mapType = NavigationMapType.DFX.id;
+                    }
+                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
                     if (result == null) {
                         throw new CoolException("璺緞璁$畻澶辫触");
                     }

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