| | |
|---|
| | | |
|---|
| | | return levCount < Integer.parseInt(dict.getValue()); |
|---|
| | | } |
|---|
| | | //分析出库路径待机库位 |
|---|
| | | public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) { |
|---|
| | | //计算路径并分解成两段动作 |
|---|
| | | List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc))); |
|---|
| | | if (nodeList == null) { |
|---|
| | | News.error("{} dash {} can't find navigate path!", startLoc, targetLoc); |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | //获取分段路径 |
|---|
| | | ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList); |
|---|
| | | if (data.size() <= 1) { |
|---|
| | | return null;//两点之间只有一段路径 |
|---|
| | | } |
|---|
| | | |
|---|
| | | //取出倒数第二段路径 |
|---|
| | | ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2); |
|---|
| | | NavigateNode startNode = navigateNodes.get(0); |
|---|
| | | String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ()); |
|---|
| | | return lastPathStartLoc; |
|---|
| | | } |
|---|
| | | |
|---|
| | | } |
|---|
