#

Junjie

2023-10-25 7a3b50af32dce3c806a6e520043a714594f3acff

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

@@ -1,5 +1,6 @@
package com.zy.common.utils;

import com.core.common.SpringUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.NyShuttleOperaResult;
@@ -86,14 +87,16 @@
     * 获取起点到目标点行走命令
     */
    public static NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType) {
        NavigateMapUtils navigateMapUtils = SpringUtils.getBean(NavigateMapUtils.class);
        //计算起点到目标点行走节点
        List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(targetPoint)));
        List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)));
        if (calc == null) {
            return null;
        }

        //命令集合
        ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
        List<NavigateNode> allNode = new ArrayList<>();

        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -107,8 +110,11 @@
            NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
            moveCommand.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(moveCommand);

            allNode.addAll(nodes);
        }

        navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), allNode, true);//锁定路径
        return result(commands, calc);
    }