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opt:增加返回点功能。

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baoge
2024-05-11 22:34:06 +08:00
parent 4ea1b25e03
commit 7b9c11f011
1 changed files with 2 additions and 2 deletions
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4
nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
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@@ -590,7 +590,7 @@ public class HomeServiceImpl implements HomeService {
String resultflag = resjo.getString("result"); String resultflag = resjo.getString("result");
if (StrUtil.equals("0", resultflag)) { if (StrUtil.equals("0", resultflag)) {
//返程指令已下发 //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("step", "1");
} }
taskjo.put("is_manualfinished", "1"); taskjo.put("is_manualfinished", "1");
@@ -691,7 +691,7 @@ public class HomeServiceImpl implements HomeService {
//stopWatch.start(); //stopWatch.start();
JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0); 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 //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 //普通任务
if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) { if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) {
updateTaskStatus(taskjo, TaskStatusEnum.END); updateTaskStatus(taskjo, TaskStatusEnum.END);