地图数据增加上下左右移动距离

Junjie

2023-03-28 ae35f8d3521741b87835c6122053ec1af449d4ab

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -288,7 +288,7 @@
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
    private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

@@ -299,6 +299,13 @@
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
            //路径数据
            map.put("path", data);
            //路径次数
            map.put("pathSize", data.size());
        }else {
            if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
                //属于入库出库，必须要计算路径，则抛出异常
                throw new Exception("未能找到运行路径");
            }
        }

        //工作号
@@ -336,11 +343,11 @@
                Object o1 = pathList.get(commandStep);
                ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

                size = path.size();
                size = Integer.parseInt(map.get("pathSize").toString());
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
                JSONObject endPath = JSON.parseObject(path.get(path.size() - 1).toString());

                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
@@ -372,6 +379,14 @@
                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                command.setCommandEnd((short) 1);
                break;
            case 9://状态复位
                command.setCommandWord((short) 0);
                //设置四向穿梭车为空闲状态
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                break;
            default:
        }

        command.setCommandEnd((short) 1);
@@ -385,7 +400,7 @@
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size) {
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;