| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/common/utils/NavigateUtils.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/ShuttleThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -935,16 +935,16 @@ 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, 3);//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, 2);//计算中间点到目标点行走距离 middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//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() - 1); //通过xy坐标小车二维码 middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 } //目标路径 @@ -1005,16 +1005,16 @@ 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, 3);//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, 2);//计算中间点到目标点行走距离 middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//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() - 1); //通过xy坐标小车二维码 middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 } //目标路径 @@ -1057,16 +1057,16 @@ 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, 3);//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, 2);//计算中间点到目标点行走距离 middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//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() - 1); //通过xy坐标小车二维码 middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 } //目标路径 src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -222,9 +222,7 @@ /** * 获取中间点到目标点行走距离 */ public static Integer getMiddleToDistDistance(List<NavigateNode> path, Integer distance) { //中间路径 NavigateNode middlePath = path.get(path.size() - distance); public static Integer getMiddleToDistDistance(List<NavigateNode> path, NavigateNode middlePath) { //总距离 int allDistance = 0; boolean flag = false; src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -445,7 +445,7 @@ //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, 2);//计算中间点到目标点行走距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 //正常移动命令 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 @@ -481,7 +481,7 @@ //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, 2);//计算中间点到目标点行走距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 //正常移动命令 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 @@ -570,7 +570,7 @@ //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, 2);//计算中间点到目标点行走距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码 @@ -607,7 +607,7 @@ //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, 2);//计算中间点到目标点行走距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
