From 7b9c11f0113e4a200c3e550dcc2627ba567534ef Mon Sep 17 00:00:00 2001
From: baoge <751575283@qq.com>
Date: Sat, 11 May 2024 22:34:06 +0800
Subject: [PATCH] =?UTF-8?q?opt:=E5=A2=9E=E5=8A=A0=E8=BF=94=E5=9B=9E?=
 =?UTF-8?q?=E7=82=B9=E5=8A=9F=E8=83=BD=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../main/java/org/nl/agv/service/impl/HomeServiceImpl.java    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
index efdaa74..b5aa68e 100644
--- a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
+++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
@@ -590,7 +590,7 @@ public class HomeServiceImpl implements HomeService {
         String resultflag = resjo.getString("result");
         if (StrUtil.equals("0", resultflag)) {
             //返程指令已下发
-            if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) {
+            if(TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) {
                 taskjo.put("step", "1");
             }
             taskjo.put("is_manualfinished", "1");
@@ -691,7 +691,7 @@ public class HomeServiceImpl implements HomeService {
         //stopWatch.start();
         JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
         //小车停止，且已到达目标点位
-        if (ObjectUtil.isNotEmpty(taskjo)) {
+        if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) {
             //普通任务
             if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) {
                 updateTaskStatus(taskjo, TaskStatusEnum.END);