Merge remote-tracking branch 'origin/shuttle_rcs_dev' into shuttle_rcs_dev

zjj

1 天以前 ffbcb17a9ce705b443c3a450e3e3d56f13ee712f

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

@@ -72,6 +72,17 @@
            }
        }

        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);

        //小车(x,y)命令运行方向颠倒
        boolean shuttleDirectionReverse = false;
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            if (systemConfigMap.get("shuttleDirectionReverse").equals("Y")) {
                shuttleDirectionReverse = true;
            }
        }

        long calcStartTime = System.currentTimeMillis();
        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
        if (nodeList == null) {
@@ -133,15 +144,15 @@

            long startGetMoveCommandTime = System.currentTimeMillis();
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, shuttleDirectionReverse);
            News.info("[RCS Debug] getMoveCommand idx:{} time:{}", i, (System.currentTimeMillis() - startGetMoveCommandTime));

            if (i + 1 == data.size()) {
                long startGetInOutLiftTime = System.currentTimeMillis();
                if (moveType.equals("inLift")) {
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true);
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true, shuttleDirectionReverse);
                }else if (moveType.equals("outLift")) {
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false);
                    command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false, shuttleDirectionReverse);
                }
                News.info("[RCS Debug] getInOutLiftTime idx:{} time:{}", i, (System.currentTimeMillis() - startGetInOutLiftTime));
            }
@@ -156,9 +167,8 @@

        //小车移动连续下发指令
        boolean shuttleMoveCommandsContinuously = false;
        Object object = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (object != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) object;
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            String shuttleMoveCommandsContinuouslyConfig = systemConfigMap.get("shuttleMoveCommandsContinuously");
            if (shuttleMoveCommandsContinuouslyConfig != null && shuttleMoveCommandsContinuouslyConfig.equals("Y")) {
                shuttleMoveCommandsContinuously = true;
@@ -371,7 +381,17 @@
        int[] pointArr = NavigatePositionConvert.positionToXY(locNo);
        NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
        currentNode.setZ(lev);
        innerNodes.add(currentNode);

        boolean addCurrentNode = true;
        for (int[] shuttlePoint : whiteShuttlePointList) {
            if(currentNode.getX() == shuttlePoint[0] && currentNode.getY() == shuttlePoint[1]) {
                addCurrentNode = false;
                break;
            }
        }
        if (addCurrentNode) {
            innerNodes.add(currentNode);
        }

        List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图
        int[][] map = navigateMapData.parseJsonDataArr(lists);