| | |
| | | } |
| | | map.put(distance, rgvProtocol); |
| | | } |
| | | // log.info("取货站点:{},后面小车排序", basDevpPositions.getDevNo()); |
| | | // StringBuilder sb = new StringBuilder(); |
| | | // for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) { |
| | | // RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); |
| | | // sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]"); |
| | | // } |
| | | // log.info(sb.toString()); |
| | | log.info("取货站点:{},后面小车排序", basDevpPositions.getDevNo()); |
| | | StringBuilder sb = new StringBuilder(); |
| | | for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) { |
| | | RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); |
| | | sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]"); |
| | | } |
| | | log.info(sb.toString()); |
| | | |
| | | for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) { |
| | | RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 最近距离小车 |
| | |
| | | // 当前rgv任务目标站点 |
| | | BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo())); |
| | | long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置 |
| | | if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置 |
| | | if(rgvProtocol.getRgvPos() < rgvDstaNoPosition || Math.abs(rgvProtocol.getRgvPos() - rgvDstaNoPosition) <= 50) { // 小车当前位置 < rgv目标位置 |
| | | if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后 |
| | | break; // 当前rgv放货完成后,可以取当前任务 |
| | | } |
| | |
| | | // 当前rgv任务目标站点 |
| | | BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo())); |
| | | long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置 |
| | | if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 小车当前位置 < rgv目标位置 |
| | | if(rgvProtocol.getRgvPos() <= rgvDstaNoPosition || Math.abs(rgvProtocol.getRgvPos() - rgvDstaNoPosition) <= 50) { // 小车当前位置 < rgv目标位置 |
| | | if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后 |
| | | break; // 当前rgv放货完成后,可以取当前任务 |
| | | } |