From 586605cbe95aaca03844763b74392ba70644fecc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 03 七月 2023 16:39:14 +0800
Subject: [PATCH] map_1.json
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 54 ++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 42 insertions(+), 12 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index f9bc9dc..27a9864 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -797,7 +797,7 @@
Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
//澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
commands.add(moveCommand);
//鍒嗛厤鐩爣搴撲綅
@@ -822,7 +822,7 @@
Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
//鑾峰彇鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
assignCommand.setCommands(commands);
@@ -927,16 +927,31 @@
for (ArrayList<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
+
//涓棿璺緞
- NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ NavigateNode middlePath = null;
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = null;
+ Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 3);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 2);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ }
+
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
//鑾峰彇绉诲姩鍛戒护
@@ -982,17 +997,32 @@
for (ArrayList<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
+
//涓棿璺緞
- NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ NavigateNode middlePath = null;
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = null;
+ Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 3);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 2);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ }
+
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
//鑾峰彇绉诲姩鍛戒护
@@ -1217,7 +1247,7 @@
Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
//澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
commands.add(moveCommand);
//鐩爣搴撲綅
@@ -1258,7 +1288,7 @@
short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
//鑾峰彇绉诲姩鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
--
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