From 5bc9dd2d2524c1ed96aee76765cfd23d7a776517 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 19 七月 2023 12:54:07 +0800
Subject: [PATCH] shuttle.html
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 52 ++++++++++++++++++++++++++++++++++------------------
1 files changed, 34 insertions(+), 18 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 27a9864..fd685be 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, null, null, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, 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, null, null, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
assignCommand.setCommands(commands);
@@ -849,7 +849,7 @@
// 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, 1600, runDirection, startCode, 1600, 500);
// commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
// }
// assignCommand.setCommands(commands);
@@ -872,7 +872,7 @@
// 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(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
// commands.add(moveCommand);
//
// //鍒嗛厤鐩爣搴撲綅
@@ -1049,17 +1049,32 @@
for (ArrayList<NavigateNode> nodes : data2) {
//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());
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
@@ -1247,7 +1262,7 @@
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, null, null, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
commands.add(moveCommand);
//鐩爣搴撲綅
@@ -1288,7 +1303,7 @@
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(), null, null, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, 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
@@ -1812,12 +1827,13 @@
LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//杈撻�佺嚎鎿嶄綔绔欑偣鍙�
command2.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
- command2.setDevpId(devpId);//杈撻�佺嚎iD
+ command2.setDevpId(devpId);//杈撻�佺嚎ID
command2.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄墠寰�鍑哄簱鍙ｏ紝杈撻�佺嚎妤煎眰
LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
+ command3.setDevpId(devpId);//杈撻�佺嚎ID
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(鍙嶈浆)
@@ -1825,12 +1841,12 @@
LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
command4.setOperaStaNo((short) 102);//鎿嶄綔102绔�
command4.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
- command4.setDevpId(devpId);
+ command4.setDevpId(devpId);//杈撻�佺嚎ID
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈洪摼鏉℃墽琛屽畬姣曞悗锛岀粰102绔欏啓鍏ヨ祫鏂�
LiftCommand command5 = liftThread.getResetCommand();
- command5.setDevpId(devpId);//杈撻�佺嚎iD
+ command5.setDevpId(devpId);//杈撻�佺嚎ID
command5.setOperaStaNo((short) 102);//鎿嶄綔102绔�
command5.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
command5.setRotationDire(0);//閾炬潯杞姩鍋滄
@@ -2772,7 +2788,7 @@
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
assignCommand.setCharge(true);//鍏呯數浠诲姟
@@ -2810,13 +2826,13 @@
Short basDevpQrCode = 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(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
commands.add(moveCommand);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(chargeLocNo);
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
assignCommand.setCharge(true);//鍏呯數浠诲姟
//鐩爣搴撲綅
@@ -2900,14 +2916,14 @@
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, 1600, runDirection, startCode, 1600, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//杩涜鍏呯數涓�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
assignCommand.setCharge(true);//鍏呯數浠诲姟
--
Gitblit v1.9.1