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"); } -- Gitblit v1.9.1