中段码根据规则进行更新 行走少于五个库位，不传中断码 行走少于十个库位，中断码给倒数第二个 行走大于十个库位，中断码给倒数第三个

Junjie

2023-07-03 f25949443a6e59eda90b47ab4c423668bcb690a6

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -797,7 +797,7 @@
                                    Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                                    //增加移动进提升机命令
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                                    commands.add(moveCommand);

                                    //分配目标库位
@@ -822,7 +822,7 @@
                                Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
                                Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
                                //获取命令
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
                                commands.add(0, moveCommand);//将该指令添加到队头

                                assignCommand.setCommands(commands);
@@ -927,16 +927,31 @@
        for (ArrayList<NavigateNode> nodes : data) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

            //中间路径
            NavigateNode middlePath = nodes.get(nodes.size() - 2);
            NavigateNode middlePath = null;
            //通过xy坐标小车二维码
            Short middleCodeNum = null;
            Integer middleToDistDistance = null;//计算中间点到目标点行走距离
            if (nodes.size() > 10) {//中段码传倒数第三个
                //中间路径
                middlePath = nodes.get(nodes.size() - 3);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            } else if (nodes.size() > 5) {//中段码传倒数第二个
                //中间路径
                middlePath = nodes.get(nodes.size() - 2);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            }

            //目标路径
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            //通过xy坐标小车二维码
            Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            //获取移动命令
@@ -982,17 +997,32 @@
            for (ArrayList<NavigateNode> nodes : data) {
                //开始路径
                NavigateNode startPath = nodes.get(0);

                //中间路径
                NavigateNode middlePath = nodes.get(nodes.size() - 2);
                NavigateNode middlePath = null;
                //通过xy坐标小车二维码
                Short middleCodeNum = null;
                Integer middleToDistDistance = null;//计算中间点到目标点行走距离
                if (nodes.size() > 10) {//中段码传倒数第三个
                    //中间路径
                    middlePath = nodes.get(nodes.size() - 3);
                    //通过xy坐标小车二维码
                    middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                    middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                } else if (nodes.size() > 5) {//中段码传倒数第二个
                    //中间路径
                    middlePath = nodes.get(nodes.size() - 2);
                    //通过xy坐标小车二维码
                    middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                    middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                }

                //目标路径
                NavigateNode endPath = nodes.get(nodes.size() - 1);
                Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离

                //通过xy坐标小车二维码
                Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
                //通过xy坐标小车二维码
                Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                //通过xy坐标小车二维码
                Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
                //获取移动命令
@@ -1217,7 +1247,7 @@
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            //增加移动进提升机命令
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                            commands.add(moveCommand);

                            //目标库位
@@ -1258,7 +1288,7 @@
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位