#

Junjie

2023-08-02 88a1fbd68cfb38c921fbf83c92d17b38a4a5975a

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

@@ -54,8 +54,8 @@
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", wrkNo);//任务号
        body.put("start", navigateNodeToPointNode(start));//起点
        body.put("target", navigateNodeToPointNode(target));//终点
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -70,8 +70,8 @@
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
        body.put("taskId", wrkNo);//任务号
        body.put("start", navigateNodeToPointNode(start));//起点
        body.put("target", navigateNodeToPointNode(target));//终点
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -296,12 +296,13 @@
        return null;
    }

    //地图节点转换普通节点xyz
    public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToPointNode(NavigateNode node) {
    //地图节点转换牛眼节点
    public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
        int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS系统坐标转牛眼坐标
        NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
        point.setX(node.getX());
        point.setY(node.getY());
        point.setZ(node.getZ());
        point.setX(NyPosition[0]);
        point.setY(NyPosition[1]);
        point.setZ(NyPosition[2]);
        return point;
    }