From 6694bb8752aced4b818f2976442d66ae3a52e9e8 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 25 七月 2025 13:25:11 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 62 ------------------------------
1 files changed, 1 insertions(+), 61 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 33739d4..6108c6f 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -115,6 +115,7 @@
}
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ assignCommand.setMapTypes(mapTypes);
//灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
boolean shuttleMoveCommandsContinuously = false;
@@ -125,67 +126,6 @@
}
}
assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
- return commands;
- }
-
- public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
- NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
- List<NavigateNode> unlockPath = new ArrayList<>();
- unlockPath.add(startNode);
- unlockPath.add(endNode);
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return null;
- }
-
- Integer shuttleNo = shuttleProtocol.getShuttleNo();
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
- boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
- if (!lockResult) {
- News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
- shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo);
- return null;//瑙ｉ攣澶辫触
- }
-
- //鑾峰彇灏忚溅绉诲姩閫熷害
- Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
- if (nodeList == null) {
- News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
- shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
- return null;
- }
-
- List<NavigateNode> allNode = new ArrayList<>();
- for (NavigateNode node : nodeList) {
- allNode.add(node.clone());
- }
-
- List<ShuttleCommand> commands = new ArrayList<>();
- //鑾峰彇鍒嗘璺緞
- List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (List<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
-
- //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�
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- 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);
- 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);
- }
-
- assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
-
return commands;
}
--
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