From 2c70de24f676af47132638a3aeaa69cc5b64a8c4 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期一, 20 十月 2025 16:34:18 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 52 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 33 insertions(+), 19 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 5e2e26c..bf7a896 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -675,6 +675,10 @@
.eq("status", 1));
if (shuttleMaxPowerVerifyConfig != null) {
if (shuttleMaxPowerVerifyConfig.getValue().equals("true")) {
+ if (this.shuttleProtocol.getBatteryPower() == null) {
+ return false;
+ }
+
if (this.shuttleProtocol.getBatteryVoltage() < 5630) {
return false;//鐢靛帇涓嶅缁х画鍏呯數
}
@@ -953,6 +957,10 @@
List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
restartCalcMapTypes.add(NavigationMapType.SHUTTLE);
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
+ restartCalcMapTypes.add(NavigationMapType.DFX);
+ }
+
String currentLocNo = shuttleProtocol.getCurrentLocNo();
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
if (commands == null) {
@@ -989,7 +997,7 @@
}
@Override
- public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
+ public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean shuttleDirectionReverse) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
@@ -1009,8 +1017,14 @@
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
- int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
- int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ }
+
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
List<MapNode> mapNodes = mapData.get(node.getX());
@@ -1040,7 +1054,7 @@
}
@Override
- public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn) {
+ public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
@@ -1049,11 +1063,12 @@
Integer taskId = getTaskId();
HashMap<String, Object> body = new HashMap<>();
- if (moveIn) {
- body.put("requestType", "intoLift");//杩涙彁鍗囨満
- }else {
- body.put("requestType", "outLift");//鍑烘彁鍗囨満
- }
+// if (moveIn) {
+// body.put("requestType", "intoLift");//杩涙彁鍗囨満
+// } else {
+// body.put("requestType", "outLift");//鍑烘彁鍗囨満
+// }
+ body.put("requestType", "move");//绉诲姩鍛戒护
body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
body.put("path", path);
request.setBody(body);
@@ -1064,8 +1079,14 @@
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
- int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
- int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ }
+
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
List<MapNode> mapNodes = mapData.get(node.getX());
@@ -1330,13 +1351,6 @@
//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
private static int[] WCSXyzToNyXyz(int x, int y, int z) {
-// //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
-// int x1 = Math.abs(y - 61) + 11;
-// //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
-// int y1 = x + 10;
-
-// int x1 = x + 10;
-// int y1 = y + 10;
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
.eq("row1", x)
@@ -1349,7 +1363,7 @@
String qrCodeValue = locMast.getQrCodeValue();
JSONObject data = JSON.parseObject(qrCodeValue);
- return new int[]{data.getInteger("y"), data.getInteger("x"), z};
+ return new int[]{data.getInteger("x"), data.getInteger("y"), z};
}
@Override
--
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