#

zc

8 天以前 ef942fc4483059aa0526e913f9be41982df7bb79

 src/main/java/com/zy/common/utils/ShuttleOperaUtils.java

@@ -44,15 +44,32 @@
        Integer shuttleNo = shuttleProtocol.getShuttleNo();
        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }

        List<NavigateNode> allNode = new ArrayList<>();
        List<NavigateNode> lockNode = new ArrayList<>();
        for (NavigateNode node : nodeList) {
            allNode.add(node.clone());

            if (whites != null) {
                boolean flag = false;
                for (int[] white : whites) {
                    if(white[0] == node.getX() && white[1] == node.getY()) {
                        flag = true;
                        break;
                    }
                }

                if (flag) {//白名单跳过锁定
                    continue;
                }
            }
            lockNode.add(node.clone());
        }

        List<ShuttleCommand> commands = new ArrayList<>();
@@ -78,6 +95,12 @@

        assignCommand.setNodes(allNode);//当前任务所占用的节点list

        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//锁定路径
        if (!result) {
            News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo);
            return null;//路径锁定失败
        }
        return commands;
    }

@@ -98,6 +121,7 @@
        boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//所使用的路径进行解锁
        if (!lockResult) {
            News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            return null;//解锁失败
        }

@@ -106,6 +130,7 @@
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }

@@ -143,7 +168,7 @@
    /**
     * 获取充电命令
     */
    public synchronized List<ShuttleCommand> shuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
    public synchronized List<ShuttleCommand> getShuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
        List<ShuttleCommand> commands = new ArrayList<>();

        //获取充电命令
@@ -152,6 +177,18 @@
        return commands;
    }

    /**
     * 获取顶升命令
     */
    public synchronized List<ShuttleCommand> getShuttleLiftCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean lift) {
        List<ShuttleCommand> commands = new ArrayList<>();

        //获取顶升命令
        ShuttleCommand command = shuttleThread.getLiftCommand(assignCommand.getDeviceTaskNo(), lift);
        commands.add(command);
        return commands;
    }

//    private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
//        String movePath = motion.getMovePath();
//        if (Cools.isEmpty(movePath)) {