From 1f290b785adec6e9409adf2c9241bdd01eacf0ee Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 25 七月 2023 09:02:58 +0800
Subject: [PATCH] 捡料
---
src/main/java/com/zy/asrs/utils/Utils.java | 13 ++++++++++---
1 files changed, 10 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 89e907d..3471267 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -9,6 +9,7 @@
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
@@ -444,7 +445,7 @@
//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
- boolean flag = false;
+ boolean flag = false;
int shuttleX = -1;
int shuttleY = -1;
int shuttleZ = -1;
@@ -505,6 +506,11 @@
return false;
}
+ ShuttleProtocol shuttleProtocol = currentShuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ return false;//琚皟搴︾殑灏忚溅澶勪簬宸ヤ綔鐘舵�侊紝绂佹瑙﹀彂閬胯浠诲姟
+ }
+
//鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId鎼滅储鏃堕渶瑕佹帓闄ょ殑杞﹁締id锛宑urrentShuttleThread鏄渶瑕佽璋冨害鐨勮溅杈嗙嚎绋�
@@ -525,6 +531,7 @@
public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
+ CommonService commonService = SpringUtils.getBean(CommonService.class);
if (shuttleThread == null) {
return null;
@@ -579,8 +586,8 @@
//鍒涘缓鍒嗛厤鍛戒护
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- assignCommand.setTaskNo((short) 9998);//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id.shortValue());//绉诲姩鍒扮洰鏍囧簱浣�
+ assignCommand.setTaskNo((short) commonService.getWorkNo(7));//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.AVOID.id.shortValue());//閬胯浠诲姟
assignCommand.setSourceLocNo(startLocNo);//婧愬簱浣�
//鍒嗛厤鐩爣搴撲綅
--
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