From 6cf4a3e2ba925e75b60f13bb8ebc5e92d37809b2 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 25 七月 2025 13:53:34 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 8 ++++++--
1 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 1f9b30c..94c48cd 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -35,6 +35,7 @@
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.thread.ShuttleThread;
+import com.zy.core.thread.TrafficControlThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -310,9 +311,9 @@
if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
//绉诲姩鍒扮洰鏍囧簱浣�
- List<NavigationMapType> mapTypes = NavigationMapType.getMapTypes(NavigationMapType.NORMAL);
+ List<NavigationMapType> mapTypes = NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK);
if (shuttleProtocol.getHasLift()) {
- mapTypes = NavigationMapType.getMapTypes(NavigationMapType.DFX);
+ mapTypes = NavigationMapType.getMapTypes(NavigationMapType.DFX, NavigationMapType.PATH_LOCK);
}
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapTypes, assignCommand, shuttleThread);
if (commands == null) {
@@ -346,6 +347,9 @@
assignCommand.setCommands(commands);
} else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
//澶嶄綅
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ trafficControlThread.forceCancelTrafficControl(shuttleProtocol.getShuttleNo());
+
shuttleThread.setSyncTaskNo(0);//宸ヤ綔鍙锋竻绌�
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//浠诲姟鐘舵��-绌洪棽
shuttleThread.setPakMk(true);//浣滀笟鏍囪澶嶄綅
--
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