#

Junjie

2 天以前 6694bb8752aced4b818f2976442d66ae3a52e9e8

 src/main/java/com/zy/common/utils/ShuttleOperaUtils.java

@@ -115,6 +115,7 @@
        }

        assignCommand.setNodes(allNode);//当前任务所占用的节点list
        assignCommand.setMapTypes(mapTypes);

        //小车移动连续下发指令
        boolean shuttleMoveCommandsContinuously = false;
@@ -125,67 +126,6 @@
            }
        }
        assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
        return commands;
    }

    public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
        NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
        NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
        List<NavigateNode> unlockPath = new ArrayList<>();
        unlockPath.add(startNode);
        unlockPath.add(endNode);

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return null;
        }

        Integer shuttleNo = shuttleProtocol.getShuttleNo();
        //所使用的路径进行锁定/解锁
        boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//所使用的路径进行解锁
        if (!lockResult) {
            News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            return null;//解锁失败
        }

        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }

        List<NavigateNode> allNode = new ArrayList<>();
        for (NavigateNode node : nodeList) {
            allNode.add(node.clone());
        }

        List<ShuttleCommand> commands = new ArrayList<>();
        //获取分段路径
        List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        //将每一段路径分成command指令
        for (List<NavigateNode> nodes : data) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

            //目标路径
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
            //通过xy坐标小车二维码
            String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            //通过xy坐标小车二维码
            String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }

        assignCommand.setNodes(allNode);//当前任务所占用的节点list

        return commands;
    }