#

Junjie

3 天以前 877b2519157cea762b1e63e9c57c09614216d684

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

@@ -17,7 +17,6 @@
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
@@ -91,11 +90,14 @@
            lockNode.add(node.clone());
        }

        long startTime = System.currentTimeMillis();
        List<ShuttleCommand> commands = new ArrayList<>();
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        long endTime = System.currentTimeMillis();
        News.info("getSection path time:{}", (endTime - startTime));
        //将每一段路径分成command指令
        for (ArrayList<NavigateNode> nodes : data) {
        for (List<NavigateNode> nodes : data) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

@@ -114,12 +116,15 @@

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

        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//锁定路径
        if (!result) {
            News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo);
            return null;//路径锁定失败
        //小车移动连续下发指令
        boolean shuttleMoveCommandsContinuously = false;
        Config shuttleMoveCommandsContinuouslyConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleMoveCommandsContinuously"));
        if (shuttleMoveCommandsContinuouslyConfig != null) {
            if (shuttleMoveCommandsContinuouslyConfig.getValue().equals("Y")) {
                shuttleMoveCommandsContinuously = true;
            }
        }
        assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
        return commands;
    }

@@ -160,9 +165,9 @@

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

@@ -331,7 +336,7 @@
        NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
        currentNode.setZ(lev);

        List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图
        List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图
        int[][] map = navigateMapData.parseJsonDataArr(lists);
        int nodeValue = map[pointArr[0]][pointArr[1]];
        currentNode.setNodeValue(nodeValue);
@@ -372,7 +377,7 @@
        currentNode.setZ(lev);
        innerNodes.add(currentNode);

        List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图
        List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图
        int[][] map = navigateMapData.parseJsonDataArr(lists);
        int nodeValue = map[pointArr[0]][pointArr[1]];
        currentNode.setNodeValue(nodeValue);