充电任务

Junjie

2023-08-02 e4a672a1ff1d8d881fe3071edb69080c2edaa96c

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -23,8 +23,10 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.NyShuttleThread;
import com.zy.core.thread.ShuttleThread;

import java.text.DecimalFormat;
@@ -420,24 +422,24 @@
            }

            //获取穿梭车所在节点位置
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

            if (shuttleProtocol.getLocNo() == null) {
            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                continue;//楼层不同
            }

            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getLocNo());//通过库位号获取xy坐标
            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
@@ -601,7 +603,7 @@
                return null;
            }

            assignCommand.setCommands(commands);
//            assignCommand.setCommands(commands);
            return assignCommand;
        }
        return null;