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| | | for (ArrayList<NavigateNode> nodes : data2) { |
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| | | //开始路径 |
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| | | NavigateNode startPath = nodes.get(0); |
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| | | |
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| | | //中间路径 |
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| | | NavigateNode middlePath = nodes.get(nodes.size() - 2); |
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| | | NavigateNode middlePath = null; |
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| | | //通过xy坐标小车二维码 |
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| | | Short middleCodeNum = null; |
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| | | Integer middleToDistDistance = null;//计算中间点到目标点行走距离 |
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| | | if (nodes.size() > 10) {//中段码传倒数第三个 |
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| | | //中间路径 |
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| | | middlePath = nodes.get(nodes.size() - 3); |
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| | | //通过xy坐标小车二维码 |
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| | | middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); |
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| | | middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 |
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| | | } else if (nodes.size() > 5) {//中段码传倒数第二个 |
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| | | //中间路径 |
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| | | middlePath = nodes.get(nodes.size() - 2); |
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| | | //通过xy坐标小车二维码 |
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| | | middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); |
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| | | middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 |
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| | | } |
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| | | |
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| | | //目标路径 |
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| | | NavigateNode endPath = nodes.get(nodes.size() - 1); |
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| | | Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 |
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| | | Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 |
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| | | |
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| | | //通过xy坐标小车二维码 |
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| | | Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); |
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| | | //通过xy坐标小车二维码 |
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| | | Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); |
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| | | //通过xy坐标小车二维码 |
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| | | Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); |
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| | | ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); |
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