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| | | ShuttleProtocol getStatus();//获取四向穿梭车状态-默认clone |
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| | | Object getOriginDeviceData(); |
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| | | CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//路径下发 |
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| | | CommandResponse move(ShuttleCommand command);//移动 |
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| | | boolean offerSystemMsg(String format, Object... arguments); |
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| | | boolean setTrafficControl(boolean enable, List<NavigateNode> nodeList); |
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| | | void updateDeviceDataLogTime(long time); |
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| | | JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol); |
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| | | boolean restartCalcPath();//重新规划路径 |
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| | | //***************获取命令***************** |
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| | | ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令 |
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