From 61eeadd816f66802fa25b226a928e7d9af68e4e5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 06 十月 2023 11:54:38 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java | 67 +++++++++++++++++++++++++--------
1 files changed, 51 insertions(+), 16 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
index 6fdcd57..cf52c25 100644
--- a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
@@ -19,30 +19,64 @@
* @param shuttleNo 灏忚溅鍙�
* @param wrkNo 宸ヤ綔鍙�
* @param startPoint 璧风偣锛堝皬杞﹀綋鍓嶄綅缃級
+ * @param targetPoint 鐩爣鐐癸紙璐х墿鐩爣浣嶇疆锛�
+ */
+ public static NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint) {
+ //琛岃蛋璺緞
+ ArrayList<NavigateNode> nodes = new ArrayList<>();
+ //鍛戒护闆嗗悎
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+
+ //璁＄畻璧风偣鍒扮洰鏍囩偣鍛戒护
+ NyShuttleOperaResult result = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, targetPoint, NavigationMapType.DFX.id);
+ if (result == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result.getNodes());
+ //璧风偣浣嶇疆涓嬪彂涓�鏉￠《鍗囧懡浠ゅ皢璐х墿杩涜鎼繍
+ commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
+ commands.addAll(result.getCommands());//璧风偣鍒扮洰鏍囩偣绉诲姩鍛戒护
+ //褰撳皬杞﹁璧板埌鐩爣鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉′笅闄嶅懡浠ゅ皢璐х墿鏀剧疆
+ commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
+ return result(commands, nodes);
+ }
+
+ /**
+ * 璁＄畻骞惰幏鍙栧皬杞︿粠璧风偣鈥斺�斾腑闂寸偣鈥斺�旂洰鏍囩偣涔嬮棿鎼繍璐х墿鍔ㄤ綔鍛戒护
+ * @param shuttleNo 灏忚溅鍙�
+ * @param wrkNo 宸ヤ綔鍙�
+ * @param startPoint 璧风偣锛堝皬杞﹀綋鍓嶄綅缃級
* @param middlePoint 涓棿鐐癸紙璐х墿浣嶇疆锛�
* @param targetPoint 鐩爣鐐癸紙璐х墿鐩爣浣嶇疆锛�
*/
public static NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String middlePoint, String targetPoint) {
- //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
- NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint);
- //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
- NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint);
- if (result1 == null || result2 == null) {
- //涓や釜璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
- return null;
- }
-
//琛岃蛋璺緞
ArrayList<NavigateNode> nodes = new ArrayList<>();
- nodes.addAll(result1.getNodes());
- nodes.addAll(result2.getNodes());
-
//鍛戒护闆嗗悎
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.addAll(result1.getCommands());
+
+ if (!startPoint.equals(middlePoint)) {//璧风偣鍜屼腑闂寸偣涓嶄竴鑷达紝闇�瑕佽绠楄捣鐐瑰埌涓棿鐐硅矾寰�
+ //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
+ NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint, NavigationMapType.NORMAL.id);
+ if (result1 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result1.getNodes());
+ commands.addAll(result1.getCommands());
+ }
+
+ //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
+ NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint, NavigationMapType.DFX.id);
+ if (result2 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result2.getNodes());
//褰撳皬杞﹁璧板埌涓棿鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉￠《鍗囧懡浠ゅ皢璐х墿杩涜鎼繍
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
- commands.addAll(result2.getCommands());
+ commands.addAll(result2.getCommands());//涓棿鐐瑰埌鐩爣鐐圭Щ鍔ㄥ懡浠�
//褰撳皬杞﹁璧板埌鐩爣鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉′笅闄嶅懡浠ゅ皢璐х墿鏀剧疆
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
return result(commands, nodes);
@@ -51,9 +85,9 @@
/**
* 鑾峰彇璧风偣鍒扮洰鏍囩偣琛岃蛋鍛戒护
*/
- public static NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint) {
+ public static NyShuttleOperaResult getStartToTargetCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String targetPoint, Integer mapType) {
//璁＄畻璧风偣鍒扮洰鏍囩偣琛岃蛋鑺傜偣
- List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)));
+ List<NavigateNode> calc = NavigateUtils.calc(startPoint, targetPoint, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startPoint)));
if (calc == null) {
return null;
}
@@ -71,6 +105,7 @@
NavigateNode targetPath = nodes.get(nodes.size() - 1);
//鑾峰彇绉诲姩鍛戒护
NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
+ moveCommand.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(moveCommand);
}
--
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