#地图初始化

zjj

2024-06-05 12a66f19229f25054c145f17e03711fcca50fa77

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -2338,7 +2338,9 @@
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            log.info("小车地图更新！获取最远站点;[farCurrentStaNo：{}]",farCurrentStaNo);
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            log.info("小车地图更新！获取合并干涉项;[fallMerge：{}]",fallMerge);
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
//            if (i>0){
@@ -2347,9 +2349,14 @@

            //更新另一台小车地图
            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
            log.info("小车地图更新！另一台小车号;[rgvNoOther：{}]",rgvNoOther);

            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            log.info("小车地图更新！另一台小车;[basRgvMapOther：{}]",JSON.toJSONString(basRgvMapOther));

            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            log.info("小车地图更新！另一台小车可活动最远位置;[lockEndRoute：{}]",lockEndRoute);
            basRgvMapOther.setEndRoute(lockEndRoute);
            Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
//            if (i1>0){
@@ -2578,6 +2585,13 @@
                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
                            continue;
                        }
                        //判断工作结束位置状态
                        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
                        if (!Cools.isEmpty(devNo)){
                            if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
                                continue;
                            }
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){