#

Junjie

2023-10-14 d91f689178f6cd84e12e73a5248534dc6713dbce

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

@@ -35,6 +35,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -385,6 +386,8 @@
        if (commands.size() == 0) {
            return false;
        }

        checkIOSta(commands, commandStep);//检测小车是否进出提升机输送站

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

@@ -803,4 +806,64 @@
        }
    }

    //检测小车是否进出提升机输送站
    public void checkIOSta(List<NyShuttleHttpCommand> commands, int commandStep) {
        if (commandStep != 0) {
            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);//上一步命令
            if (lastCommand.getRequest().getBody().get("requestType").equals("move")) {
                //检测起点是否为提升机输送站点
                NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(lastCommand.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
                int[] startPoint = NavigatePositionConvert.NyXyzToWCSXyz(start.getX(), start.getY(), start.getZ());
                if (startPoint[0] == 13 && (startPoint[1] == 22 || startPoint[1] == 38 || startPoint[1] == 57)) {
                    //输送站点位置

                    int liftNo;
                    if (startPoint[1] == 22) {
                        liftNo = 1;
                    } else if (startPoint[1] == 38) {
                        liftNo = 2;
                    } else {
                        liftNo = 3;
                    }

                    HashMap<String, Object> data = new HashMap<>();
                    data.put("lev", startPoint[2]);
                    data.put("status", false);//出输送站

                    //下发任务
                    MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
                }
            }
        }

        if (commands.size() == commandStep) {
            return;
        }
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (command.getRequest().getBody().get("requestType").equals("move")) {
            NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(command.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
            int[] targetPoint = NavigatePositionConvert.NyXyzToWCSXyz(target.getX(), target.getY(), target.getZ());
            //检测目标位置是否为提升机输送站点
            if (targetPoint[0] == 13 && (targetPoint[1] == 22 || targetPoint[1] == 38 || targetPoint[1] == 57)) {
                //输送站点位置

                int liftNo;
                if (targetPoint[1] == 22) {
                    liftNo = 1;
                } else if (targetPoint[1] == 38) {
                    liftNo = 2;
                } else {
                    liftNo = 3;
                }

                HashMap<String, Object> data = new HashMap<>();
                data.put("lev", targetPoint[2]);
                data.put("status", true);//进输送站

                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
            }
        }
    }

}