From 0d04e9440d19f30a8220f498ebdde5a8bfcc48a8 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期二, 10 十月 2023 13:50:03 +0800 Subject: [PATCH] #机械臂任务下发 --- src/main/java/com/zy/common/utils/NavigateUtils.java | 23 +++++++++++++++++++++-- 1 files changed, 21 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java index fd09ac6..c086759 100644 --- a/src/main/java/com/zy/common/utils/NavigateUtils.java +++ b/src/main/java/com/zy/common/utils/NavigateUtils.java @@ -4,7 +4,11 @@ import com.zy.common.model.MapNode; import com.zy.common.model.NavigateNode; import com.zy.common.model.enums.NavigationMapType; +import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.ShuttleTaskModeType; +import com.zy.core.enums.SlaveType; +import com.zy.core.model.protocol.NyShuttleProtocol; +import com.zy.core.thread.NyShuttleThread; import java.util.*; @@ -247,8 +251,23 @@ /** * 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋) */ - public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) { - NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�) + public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev, List<int[]> whitePoints) { + NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo); + if (shuttleThread == null) { + return false; + } + NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); + if (shuttleProtocol == null) { + return false; + } + + Integer mapType = NavigationMapType.DFX.id; + if (shuttleProtocol.getLiftPosition() == 1) { + //涓嬮檷浣嶇疆 + mapType = NavigationMapType.NORMAL.id; + } + + NavigateSolution solution = new NavigateSolution(mapType, lev, whitePoints, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�) int[][] map = solution.map; for (NavigateNode node : path) { int value = map[node.getX()][node.getY()]; -- Gitblit v1.9.1