From 0f2eaeeb387850acfede95c5c061b5392dae8688 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 六月 2023 16:58:25 +0800
Subject: [PATCH] 寻路算法和避障
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 3 ++-
1 files changed, 2 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index eb577c1..3cfe21e 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -128,7 +128,7 @@
private Short statusErrorCode;
/**
- * PLC杈撳叆鐘舵��
+ * PLC杈撳叆鐘舵�侊紝鐩墠鍙湁涓�涓姸鎬佹湁鏁堟灉锛屾墭鐩橀浄杈�1鏈夎揣锛�0鏃犺揣
*/
private Short plcInputStatus;
@@ -240,6 +240,7 @@
&& this.pakMk.equals(true)
&& this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
&& this.taskNo == 0
+ && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id
;
if (!res) {
return res;
--
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