From 2b97e11ec9159f276fa054b080393e38ab69ba9a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 10 八月 2023 10:57:40 +0800
Subject: [PATCH] 检测路径是否可行走。如果路径为目标库位，但不可行走，系统将尝试重新计算路径
---
src/main/java/com/zy/core/model/protocol/LiftProtocol.java | 15 +++++++++++----
1 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
index abc2b26..032a63d 100644
--- a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
@@ -115,7 +115,14 @@
/**
* 浣滀笟鏍囪
*/
- private Boolean pakMk = true;
+ private Boolean pakMk = false;
+
+ /**
+ * 鐙崰浠ょ墝
+ * 鏈浠诲姟鍗犳嵁锛屼护鐗屼负0
+ * 琚换鍔″崰鎹紝灏嗕换鍔″彿璧嬪�肩粰浠ょ墝
+ */
+ private Integer token = 0;
/**
* 浠诲姟鍛戒护
@@ -152,7 +159,7 @@
boolean res = (this.taskNo == 0 || this.taskNo.intValue() == taskNo.intValue())
&& !this.busy
&& this.model
- && this.pakMk.equals(true)
+ && !this.pakMk
&& !this.deviceError
;
return res;
@@ -172,7 +179,7 @@
boolean res = this.taskNo == 0
&& !this.busy
&& this.model
- && this.pakMk.equals(true)
+ && !this.pakMk
&& !this.deviceError
;
return res;
@@ -191,7 +198,7 @@
boolean res = !this.busy
&& this.model
- && this.pakMk.equals(true)
+ && !this.pakMk
&& !this.deviceError
;
return res;
--
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