From efa3e3042d30506b8eb3ce662d39c4dd954ae945 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 25 七月 2025 13:35:27 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java |   11 +----------
 src/main/java/com/zy/core/thread/impl/NyShuttleThread.java        |   22 ++++++++++++++++++++++
 src/main/java/com/zy/core/thread/ShuttleThread.java               |    2 +-
 3 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
index 5d80355..6dc4523 100644
--- a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
+++ b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
@@ -34,16 +34,7 @@
     private Integer deviceTaskNo = 0;
 
     /**
-     * 浣滀笟绫诲瀷
-     * 1:  鍏ュ簱
-     * 2锛� 鍑哄簱
-     * 3锛� 鎵樼洏椤跺崌
-     * 4锛� 鎵樼洏涓嬮檷
-     * 5锛� 宸︾Щ
-     * 6锛� 鍙崇Щ
-     * 7锛� 鍓嶇Щ
-     * 8锛� 鍚庣Щ
-     * 9: 鍏呯數
+     * 浣滀笟绫诲瀷 ShuttleTaskModeType
      */
     private Integer taskMode = 0;
 
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 1909575..060e27d 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -76,7 +76,7 @@
 
     JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);
 
-    boolean restartCalcPath();
+    boolean restartCalcPath();//閲嶆柊瑙勫垝璺緞
 
     //***************鑾峰彇鍛戒护*****************
 
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 58ecf5e..0baeb1e 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -934,6 +934,28 @@
         if (commands == null) {
             return false;
         }
+
+        if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
+            List<ShuttleCommand> originCommands = assignCommand.getCommands();
+            if (originCommands == null) {
+                return false;
+            }
+
+            ShuttleCommand firstCommand = originCommands.get(0);
+            ShuttleCommand endCommand = originCommands.get(commands.size() - 1);
+
+            if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
+                return false;
+            }
+
+            if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) {
+                return false;
+            }
+
+            commands.add(0, firstCommand);
+            commands.add(endCommand);
+        }
+
         assignCommand.setCommands(commands);
 
         //涓嬪彂浠诲姟

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