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 | 37 ++++++++++++++++++++++++++-----------
1 files changed, 26 insertions(+), 11 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyHttpUtils.java b/src/main/java/com/zy/common/utils/NyHttpUtils.java
index 9176d0c..4228f55 100644
--- a/src/main/java/com/zy/common/utils/NyHttpUtils.java
+++ b/src/main/java/com/zy/common/utils/NyHttpUtils.java
@@ -4,6 +4,8 @@
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.*;
/**
@@ -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);
@@ -273,22 +275,35 @@
try {
String response = new HttpHandler.Builder()
.setUri(requestUrl)
- .setPath("/test")
+ .setPath("/static/readStatus.json")
.setJson(JSON.toJSONString(httpCommand))
.build()
- .doPost();
+ .doGet();
JSONObject jsonObject = JSON.parseObject(response);
- JSONObject request = jsonObject.getJSONObject("request");
- JSONObject body = request.getJSONObject("body");
- if (body.get("result").equals("success")) {
+ 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();
+// 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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