| | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | if (!sign && staList.size()>1) { |
|---|
| | | for (Integer staNoNow : rangeList) { |
|---|
| | | for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { |
|---|
| | |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | }else if (!sign && staList.size()==1){ |
|---|
| | | BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0))); |
|---|
| | | if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){ |
|---|
| | | for (Integer staNoNow : rangeList) { |
|---|
| | | for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { |
|---|
| | | if (rgvStn.getStaNo().equals(staNoNow)) { |
|---|
| | | TaskWrk taskWrk = deviceDetection(rgvStn); |
|---|
| | | if (taskWrk != null) { |
|---|
| | | BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); |
|---|
| | | if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { |
|---|
| | | System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk); |
|---|
| | | System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); |
|---|
| | | |
|---|
| | | sign = taskGenerate(rgvSlave, rgvStn, 0); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | if (sign) { |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | if (!sign && staList.size()>1) { |
|---|
| | | // 半边区域内取货任务 |
|---|
| | | for (Integer staNoNow : rangeList) { |
|---|
