From 2804585b14a62cc1fdec876b65267a4db8bc8995 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 14 一月 2025 10:55:47 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 29 +++++++++++++++++++++++++++++
1 files changed, 29 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index d7a6adc..4e09cb9 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -78,6 +78,11 @@
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, allNode, true);//閿佸畾璺緞
+ if (!result) {
+ News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
+ return null;//璺緞閿佸畾澶辫触
+ }
return commands;
}
@@ -140,6 +145,30 @@
return commands;
}
+ /**
+ * 鑾峰彇鍏呯數鍛戒护
+ */
+ public synchronized List<ShuttleCommand> getShuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
+ List<ShuttleCommand> commands = new ArrayList<>();
+
+ //鑾峰彇鍏呯數鍛戒护
+ ShuttleCommand command = shuttleThread.getChargeCommand(assignCommand.getDeviceTaskNo(), openCharge);
+ commands.add(command);
+ return commands;
+ }
+
+ /**
+ * 鑾峰彇椤跺崌鍛戒护
+ */
+ public synchronized List<ShuttleCommand> getShuttleLiftCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean lift) {
+ List<ShuttleCommand> commands = new ArrayList<>();
+
+ //鑾峰彇椤跺崌鍛戒护
+ ShuttleCommand command = shuttleThread.getLiftCommand(assignCommand.getDeviceTaskNo(), lift);
+ commands.add(command);
+ return commands;
+ }
+
// private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
// String movePath = motion.getMovePath();
// if (Cools.isEmpty(movePath)) {
--
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