From aaea873695cd27a28ca9fec7e79a34db31e7527c Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 10 九月 2025 15:20:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 32 ++++++++++++++++++++++++++++++--
1 files changed, 30 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 454a799..e874172 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -84,7 +84,7 @@
return null;
}
- //鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
+ //鑾峰彇绌挎杞y鍧愭爣鐐�
public static int[] getShuttlePoint(Integer shuttleNo) {
//鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
@@ -145,6 +145,34 @@
list.add(xyPosition);
}
return list;
+ }
+
+ public static ShuttleThread searchShuttle(String locNo) {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+
+ if (currentLocNo.equals(locNo)) {
+ return shuttleThread;
+ }
+ }
+
+ return null;
}
//妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
@@ -252,7 +280,7 @@
String recentLocNo = null;
for (LocMast locMast : locMasts) {
//寰呮満浣嶅埌鐩爣鐐硅窛绂�
- List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
if (currentShuttlePath == null) {
continue;
}
--
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