#地图数据更新

zjj

2023-07-12 862c7880502d372f913f995f7dcaacf7b8609adc

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

@@ -1049,17 +1049,32 @@
        for (ArrayList<NavigateNode> nodes : data2) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

            //中间路径
            NavigateNode middlePath = nodes.get(nodes.size() - 2);
            NavigateNode middlePath = null;
            //通过xy坐标小车二维码
            Short middleCodeNum = null;
            Integer middleToDistDistance = null;//计算中间点到目标点行走距离
            if (nodes.size() > 10) {//中段码传倒数第三个
                //中间路径
                middlePath = nodes.get(nodes.size() - 3);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            } else if (nodes.size() > 5) {//中段码传倒数第二个
                //中间路径
                middlePath = nodes.get(nodes.size() - 2);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            }

            //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
            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            //通过xy坐标小车二维码
            Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
@@ -2772,7 +2787,7 @@
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    assignCommand.setTaskMode((short) 9);//充电
                    assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                    assignCommand.setCharge(true);//充电任务

@@ -2816,7 +2831,7 @@
                    //分配目标库位
                    shuttleProtocol.setLocNo(chargeLocNo);
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    assignCommand.setTaskMode((short) 9);//充电
                    assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                    assignCommand.setCharge(true);//充电任务
                    //目标库位
@@ -2907,7 +2922,7 @@
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                assignCommand.setTaskMode((short) 9);//充电
                assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                assignCommand.setCharge(true);//充电任务