| | |
|---|
| | | && rgvProtocol.getTaskNo1() == 0 |
|---|
| | | && rgvProtocol.getAlarm() == 0) { |
|---|
| | | if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) { |
|---|
| | | double finalVelocity = 0.0; // 最终速度 (m/s) |
|---|
| | | double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration); |
|---|
| | | BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo())); |
|---|
| | | if (distance * proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate))) { |
|---|
| | | // double finalVelocity = 0.0; // 最终速度 (m/s) |
|---|
| | | // double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration); |
|---|
| | | // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo())); |
|---|
| | | // if (distance * proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate))) { |
|---|
| | | // continue; |
|---|
| | | // } |
|---|
| | | List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true)); |
|---|
| | | if (basDevpPositions.isEmpty()) { |
|---|
| | | log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！"); |
|---|
| | | break runRgv; |
|---|
| | | } |
|---|
| | | List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions); |
|---|
| | | |
|---|
| | | if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){ |
|---|
| | | continue; |
|---|
| | | } |
|---|
| | | } |
|---|
