From 09cb60c8bcbb4f7371e8b692da9af00c5d4fc538 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 15:22:55 +0800
Subject: [PATCH] 小车行走路径锁定方案，走一步锁两步，走完即解锁
---
src/main/java/com/zy/common/utils/NyHttpUtils.java | 54 ++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 46 insertions(+), 8 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyHttpUtils.java b/src/main/java/com/zy/common/utils/NyHttpUtils.java
index b2e4a7d..4228f55 100644
--- a/src/main/java/com/zy/common/utils/NyHttpUtils.java
+++ b/src/main/java/com/zy/common/utils/NyHttpUtils.java
@@ -1,17 +1,19 @@
package com.zy.common.utils;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.zy.common.model.NavigateNode;
import com.zy.core.model.command.NyShuttleHttpCommand;
+import com.zy.core.model.protocol.NyShuttleProtocol;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Random;
+import java.util.*;
/**
* 鐗涚溂鍥涘悜绌挎杞TTP璇锋眰宸ュ叿绫�
*/
public class NyHttpUtils {
+
+ private static final String requestUrl = "localhost:9090/skwcs";
//鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo) {
@@ -52,8 +54,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", start);//璧风偣
- body.put("target", target);//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -68,8 +70,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", in ? "intoLift" : "outLift");//杩涘嚭鎻愬崌鏈�
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", start);//璧风偣
- body.put("target", target);//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -268,4 +270,40 @@
return random.nextInt(9999999);
}
+ //鍙戝嚭璇锋眰
+ public static JSONObject requestCommand(NyShuttleHttpCommand httpCommand) {
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(requestUrl)
+ .setPath("/static/readStatus.json")
+ .setJson(JSON.toJSONString(httpCommand))
+ .build()
+ .doGet();
+ JSONObject jsonObject = JSON.parseObject(response);
+ JSONObject response2 = jsonObject.getJSONObject("response");
+ JSONObject body = response2.getJSONObject("body");
+
+ if (body.get("responseType").equals("state")) {//璇诲彇鐘舵�侊紝涓嶉渶瑕佸垽鏂璼uccess
+ return body;
+ }
+
+ if (body.get("result").equals("success")) {
+ return body;
+ }
+ } catch (Exception e) {
+// e.printStackTrace();
+ }
+ return null;
+ }
+
+ //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
+ public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
+ int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
+ NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
+ point.setX(NyPosition[0]);
+ point.setY(NyPosition[1]);
+ point.setZ(NyPosition[2]);
+ return point;
+ }
+
}
--
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