From 629959675a97b4d41c1c36eaa60ee1671c224e93 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 13 八月 2025 09:12:35 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 23 +++++++++++++++++++----
1 files changed, 19 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 0b3fd1f..db9ab33 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -51,10 +51,14 @@
private DeviceConfigService deviceConfigService;
public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread);
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread, "move");
}
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread, moveType);
+ }
+
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
@@ -77,7 +81,7 @@
if (whites != null) {
boolean flag = false;
for (int[] white : whites) {
- if(white[0] == node.getX() && white[1] == node.getY()) {
+ if (white[0] == node.getX() && white[1] == node.getY()) {
flag = true;
break;
}
@@ -97,7 +101,9 @@
long endTime = System.currentTimeMillis();
News.info("getSection path time:{}", (endTime - startTime));
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (List<NavigateNode> nodes : data) {
+ for (int i = 0; i < data.size(); i++) {
+ List<NavigateNode> nodes = data.get(i);
+
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
@@ -110,6 +116,15 @@
String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
//鑾峰彇绉诲姩鍛戒护
ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
+
+ if (i + 1 == data.size()) {
+ if (moveType.equals("inLift")) {
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true);
+ }else if (moveType.equals("outLift")) {
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false);
+ }
+ }
+
command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(command);
}
--
Gitblit v1.9.1