From 3a900cd909796e58c5123c7d57286693f3f02fde Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 01 十月 2023 08:25:53 +0800
Subject: [PATCH] #

---
 src/main/resources/map_4.json                               |    2 
 src/main/resources/map_1.json                               |    2 
 src/main/java/com/zy/core/enums/ShuttleChargeType.java      |    8 ++--
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |   26 +++++++------
 src/main/java/com/zy/common/utils/NavigateUtils.java        |   21 ++++++++++
 src/main/resources/map_2.json                               |    2 
 src/main/resources/map_3.json                               |    2 
 src/main/resources/application.yml                          |   48 +++++++++++++++++++----
 8 files changed, 81 insertions(+), 30 deletions(-)

diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index a4829e8..e071569 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2002,19 +2002,21 @@
 
                     targetSta = (short) 317;
 
-                    //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
-                    wrkMast.setStaNo(targetSta.intValue());
-                    if (wrkMastMapper.updateById(wrkMast) > 0) {
-                        //鍚�300绔欏啓鍏ョ洰鏍囩珯
-                        staProtocol = staProtocol.clone();
-                        staProtocol.setStaNo(targetSta);//绉诲姩鍒扮洰鏍囩珯
-                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-                        try {
-                            Thread.sleep(500);
-                        } catch (Exception e) {
-                            e.printStackTrace();
+                    if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
+                        //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
+                        wrkMast.setStaNo(targetSta.intValue());
+                        if (wrkMastMapper.updateById(wrkMast) > 0) {
+                            //鍚�300绔欏啓鍏ョ洰鏍囩珯
+                            staProtocol = staProtocol.clone();
+                            staProtocol.setStaNo(targetSta);//绉诲姩鍒扮洰鏍囩珯
+                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                            try {
+                                Thread.sleep(500);
+                            } catch (Exception e) {
+                                e.printStackTrace();
+                            }
+                            continue;
                         }
-                        continue;
                     }
                 }
             }
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index fd09ac6..aeb08e7 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -4,7 +4,11 @@
 import com.zy.common.model.MapNode;
 import com.zy.common.model.NavigateNode;
 import com.zy.common.model.enums.NavigationMapType;
+import com.zy.core.cache.SlaveConnection;
 import com.zy.core.enums.ShuttleTaskModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.thread.NyShuttleThread;
 
 import java.util.*;
 
@@ -248,7 +252,22 @@
      * 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
      */
     public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
-        NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
+        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+        if (shuttleThread == null) {
+            return false;
+        }
+        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+        if (shuttleProtocol == null) {
+            return false;
+        }
+
+        Integer mapType = NavigationMapType.DFX.id;
+        if (shuttleProtocol.getLiftPosition() == 1) {
+            //涓嬮檷浣嶇疆
+            mapType = NavigationMapType.NORMAL.id;
+        }
+
+        NavigateSolution solution = new NavigateSolution(mapType, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
         int[][] map = solution.map;
         for (NavigateNode node : path) {
             int value = map[node.getX()][node.getY()];
diff --git a/src/main/java/com/zy/core/enums/ShuttleChargeType.java b/src/main/java/com/zy/core/enums/ShuttleChargeType.java
index de913c3..7d0d635 100644
--- a/src/main/java/com/zy/core/enums/ShuttleChargeType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleChargeType.java
@@ -4,10 +4,10 @@
 
 public enum ShuttleChargeType {
 
-    CHARGE_1(1, "1601901"),
-    CHARGE_2(2, "1601902"),
-    CHARGE_3(3, "1601903"),
-    CHARGE_4(4, "1601904"),
+    CHARGE_1(1, "1402001"),
+    CHARGE_2(2, "1402002"),
+    CHARGE_3(3, "1402003"),
+    CHARGE_4(4, "1402004"),
     CHARGE_5(5, "1601905"),
     CHARGE_6(6, "1601906"),
     CHARGE_7(7, "1601907"),
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 798fa5e..35628d3 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -183,8 +183,38 @@
     # 鎷ｆ枡鍑哄簱鍙�
     pickInSta[0]:
       staNo: 100
-      barcode: ${wcs-slave.barcode[0].id}
       backSta: 101
+      barcode: ${wcs-slave.barcode[0].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[1]:
+      staNo: 103
+      backSta: 102
+      barcode: ${wcs-slave.barcode[1].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[2]:
+      staNo: 105
+      backSta: 104
+      barcode: ${wcs-slave.barcode[2].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[3]:
+      staNo: 200
+      backSta: 201
+      barcode: ${wcs-slave.barcode[3].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[4]:
+      staNo: 203
+      backSta: 202
+      barcode: ${wcs-slave.barcode[4].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[5]:
+      staNo: 205
+      backSta: 204
+      barcode: ${wcs-slave.barcode[5].id}
+      led: ${wcs-slave.led[0].id}
+    pickInSta[6]:
+      staNo: 346
+      backSta: 345
+      barcode: ${wcs-slave.barcode[8].id}
       led: ${wcs-slave.led[0].id}
 #    # 璐ф灦鍏ュ簱绔欑偣
 #    rackInStn[0]:
@@ -326,56 +356,56 @@
   # 鍥涘悜绌挎杞�3
   shuttle[2]:
     id: 3
-    ip: 10.10.10.221
+    ip: 10.10.10.103
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�4
   shuttle[3]:
     id: 4
-    ip: 10.10.10.221
+    ip: 10.10.10.104
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�5
   shuttle[4]:
     id: 5
-    ip: 10.10.10.221
+    ip: 10.10.10.105
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�6
   shuttle[5]:
     id: 6
-    ip: 10.10.10.221
+    ip: 10.10.10.106
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�7
   shuttle[6]:
     id: 7
-    ip: 10.10.10.221
+    ip: 10.10.10.107
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�8
   shuttle[7]:
     id: 8
-    ip: 10.10.10.221
+    ip: 10.10.10.108
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�9
   shuttle[8]:
     id: 9
-    ip: 10.10.10.221
+    ip: 10.10.10.109
     port: 8888
     rack: 0
     slot: 0
   # 鍥涘悜绌挎杞�10
   shuttle[9]:
     id: 10
-    ip: 10.10.10.221
+    ip: 10.10.10.110
     port: 8888
     rack: 0
     slot: 0
diff --git a/src/main/resources/map_1.json b/src/main/resources/map_1.json
index 4fd7e73..3b5d04f 100644
--- a/src/main/resources/map_1.json
+++ b/src/main/resources/map_1.json
@@ -1 +1 @@
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"right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", 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index 3cd7385..7201ddb 100644
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