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lsh

昨天 98f1c4c9ffbbb3347ad752821505bc3c70ea4efc

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

@@ -1211,7 +1211,7 @@

                    if (rgvOtherStatusEnable(rgvSlave)){
                        //分成上下两部分任务
                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions);
                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions,itSmall);
                        List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
                        List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
                        //就近排序
@@ -1223,15 +1223,17 @@

                        //筛选范围内任务
                        //就近排序
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
                        //筛选在范围任务
                        List<Integer> belongToRange = RouteUtils.belongToRange(rangeList, rgvProtocolOther.getRgvPosDestination(), basDevpPositions);
                        Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
                        List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

                        for (Integer staNoNow : belongToRange){
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                if (rgvStn.getStaNo().equals(staNoNow)){
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk!=null){
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                            sign = taskGenerate(rgvSlave,rgvStn,0);
                                        }
                                    }
@@ -1263,7 +1265,8 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }
@@ -1296,7 +1299,8 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,basDevpPosition.getPlcPosition(),basDevpPositions,itSmall)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }