牛眼坐标与WCS系统坐标转换公式

Junjie

2023-07-29 c60cfa9037592af51f47cccf1c063ebc64923394

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

@@ -453,6 +453,7 @@
//                            News.error("{}条码错误，暂无拣料任务！", barcode);
//                        }
//                    }

                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                        || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
@@ -571,7 +572,7 @@
     * 初始化实时地图
     */
    public synchronized void initRealtimeBasMap() {
        for (int i = 1; i <= 4; i++) {//总共四层楼
        for (int i = 1; i <= 10; i++) {//总共四层楼
            Object data = redisUtil.get("realtimeBasMap_" + i);
            if (data == null) {//redis地图数据为空，从数据库中获取
                BasMap basMap = basMapService.selectLatestMap(i);
@@ -784,7 +785,7 @@
                                    if (commands == null) {
                                        continue;//找不到路径等待下一次
                                    }
                                    assignCommand.setCommands(commands);
//                                    assignCommand.setCommands(commands);
                                    //分配目标库位
                                    shuttleProtocol.setLocNo(wrkMast.getLocNo());
                                    //目标库位
@@ -810,7 +811,7 @@
                                    shuttleProtocol.setLocNo(liftSiteLocNo);
                                    //目标库位
                                    assignCommand.setLocNo(liftSiteLocNo);
                                    assignCommand.setCommands(commands);
//                                    assignCommand.setCommands(commands);
                                    wrkMast.setWrkSts(5L);//小车迁移状态
                                }
                            } else if (wrkMast.getWrkSts() == 8) {
@@ -831,7 +832,7 @@
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
                                commands.add(0, moveCommand);//将该指令添加到队头

                                assignCommand.setCommands(commands);
//                                assignCommand.setCommands(commands);
                                //分配目标库位
                                shuttleProtocol.setLocNo(wrkMast.getLocNo());
                                //目标库位
@@ -908,12 +909,12 @@
        //获取小车移动速度
        BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
        Integer runSpeed = 1000;
        if (basShuttle != null) {
            Integer runSpeed1 = basShuttle.getRunSpeed();
            if (runSpeed1 != null) {
                runSpeed = runSpeed1;
            }
        }
//        if (basShuttle != null) {
//            Integer runSpeed1 = basShuttle.getRunSpeed();
//            if (runSpeed1 != null) {
//                runSpeed = runSpeed1;
//            }
//        }

        //计算小车起点到中点所需命令
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
@@ -978,12 +979,12 @@
        //获取小车移动速度
        BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
        Integer runSpeed = 1000;
        if (basShuttle != null) {
            Integer runSpeed1 = basShuttle.getRunSpeed();
            if (runSpeed1 != null) {
                runSpeed = runSpeed1;
            }
        }
//        if (basShuttle != null) {
//            Integer runSpeed1 = basShuttle.getRunSpeed();
//            if (runSpeed1 != null) {
//                runSpeed = runSpeed1;
//            }
//        }

        List<NavigateNode> allNode = new ArrayList<>();

@@ -1239,7 +1240,7 @@
                            shuttleProtocol.setSourceLocNo(currentLocNo);
                            //目标库位
                            assignCommand.setLocNo(wrkMast.getSourceLocNo());
                            assignCommand.setCommands(commands);
//                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(26L);//小车搬运中

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -1273,7 +1274,7 @@

                            //目标库位
                            assignCommand.setLocNo(liftSiteLocNo);
                            assignCommand.setCommands(commands);
//                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(22L);//小车迁移状态

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -1320,7 +1321,7 @@
                        shuttleProtocol.setSourceLocNo(liftSiteLocNo);
                        //目标库位
                        assignCommand.setLocNo(wrkMast.getSourceLocNo());
                        assignCommand.setCommands(commands);
//                        assignCommand.setCommands(commands);
                        wrkMast.setWrkSts(26L);//小车搬运中

                        if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -1871,7 +1872,7 @@

                //所需命令组合完毕，更新数据库，提交到线程去工作
                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setCommands(commands);
//                assignCommand.setCommands(commands);
                assignCommand.setLiftNo(liftProtocol.getLiftNo());
                assignCommand.setTaskNo(liftProtocol.getTaskNo());
                if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -2125,7 +2126,7 @@
                shuttleProtocol.setLocNo(liftSiteLocNo);
                //目标库位
                assignCommand.setLocNo(liftSiteLocNo);
                assignCommand.setCommands(commands);
//                assignCommand.setCommands(commands);
                wrkMast.setWrkSts(5L);//小车迁移状态

                if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -2232,7 +2233,7 @@
            //分配源库位
            shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());

            assignCommand.setCommands(commands);
//            assignCommand.setCommands(commands);
            //分配目标库位
            shuttleProtocol.setLocNo(wrkMast.getLocNo());
            //目标库位
@@ -2750,7 +2751,7 @@
                    commands.add(command);

                    //指令集分配
                    assignCommand.setCommands(commands);
//                    assignCommand.setCommands(commands);

                    wrkCharge.setWrkSts(56L);//充电中状态
                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
@@ -2792,7 +2793,7 @@
                    assignCommand.setLocNo(chargeLocNo);
                    //源库位
                    assignCommand.setSourceLocNo(currentLocNo);
                    assignCommand.setCommands(commands);
//                    assignCommand.setCommands(commands);
                    wrkCharge.setWrkSts(52L);//小车迁移状态
                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                        //下发任务
@@ -2830,7 +2831,7 @@
                wrkCharge.setWrkSts(54L);//提升机搬运中
                //所需命令组合完毕，更新数据库，提交到线程去工作
                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setCommands(commands);
//                assignCommand.setCommands(commands);
                assignCommand.setLiftNo(liftProtocol.getLiftNo());
                assignCommand.setTaskNo(liftProtocol.getTaskNo());
                if (wrkChargeMapper.updateById(wrkCharge) > 0) {
@@ -2885,7 +2886,7 @@
                commands.add(command);

                //指令集分配
                assignCommand.setCommands(commands);
//                assignCommand.setCommands(commands);

                wrkCharge.setWrkSts(56L);//充电中状态
                if (wrkChargeMapper.updateById(wrkCharge) > 0) {