计算中间点到目标点行走距离

Junjie

2023-07-21 2cdb769a5fc08e1efbf724cf92d3b108d634aa26

 src/main/java/com/zy/core/thread/LiftThread.java

@@ -259,7 +259,7 @@
        short[] array = getCommandArr(command);//获取命令报文

        try {
            Thread.sleep(1000);//命令下发前休眠1s
            Thread.sleep(500);//命令下发前休眠
        } catch (InterruptedException e) {
            throw new RuntimeException(e);
        }
@@ -270,7 +270,7 @@
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            try {
                Thread.sleep(1000);//命令下发后休眠
                Thread.sleep(500);//命令下发后休眠
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
@@ -463,6 +463,7 @@
            //站点和输送线ID不为null，需要下发站点指令调度指定站点进行链条转动
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
            StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
            staProtocol = staProtocol.clone();
            if (!staProtocol.isLiftArrival()) {//链条转动条件，需要有提升机到位信号
                liftProtocol.setPakMk(true);
                return false;