From 62aa9d143a12ba3c8094dc9542c11c83b2c0c6d1 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期日, 25 五月 2025 11:00:27 +0800
Subject: [PATCH] 初始化
---
src/main/java/com/zy/core/thread/RgvThread.java | 11 +++++++++++
1 files changed, 11 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index c040606..1315b2d 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -471,6 +471,12 @@
> avoidDistance - 50) {//鏃犻渶閬胯
return true;
} else {
+
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ if (taskProtocolCacheOther.isNowPosRun(rgvProtocolOther.getRgvPos())){
+ return false;
+ }
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
@@ -560,6 +566,11 @@
> avoidDistance - 50) {//鏃犻渶閬胯
return true;
} else {
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ if (taskProtocolCacheOther.isNowPosRun(rgvProtocolOther.getRgvPos())){
+ return false;
+ }
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
--
Gitblit v1.9.1