From 6e02d92c3b9c240fa78a343b67ddf0db12d840e6 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 22 八月 2025 17:00:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 20 ++++++++++++++------
1 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index db9ab33..c7dbe39 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -59,6 +59,8 @@
}
public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, String moveType) {
+ long getStartTime = System.currentTimeMillis();
+
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
@@ -99,7 +101,7 @@
//鑾峰彇鍒嗘璺緞
List<List<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
long endTime = System.currentTimeMillis();
- News.info("getSection path time:{}", (endTime - startTime));
+ News.info("[RCS Debug] getSection path time:{}", (endTime - startTime));
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
for (int i = 0; i < data.size(); i++) {
List<NavigateNode> nodes = data.get(i);
@@ -141,6 +143,8 @@
}
}
assignCommand.setShuttleMoveCommandsContinuously(shuttleMoveCommandsContinuously);
+
+ News.info("{}浠诲姟锛寋}灏忚溅锛寋} - {} 璺緞鍛戒护鍖呰绠楁垚鍔燂紝鑰楁椂:{}ms", assignCommand.getTaskNo(), shuttleProtocol.getShuttleNo(), startLocNo, endLocNo, System.currentTimeMillis() - startTime);
return commands;
}
@@ -168,8 +172,11 @@
return commands;
}
- //妫�娴嬮殰纰嶇墿杞�
- public synchronized boolean checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
+ /**
+ * 妫�娴嬮殰纰嶇墿杞�
+ * @return 0:鏃犻殰纰� 1:鏈夐殰纰嶈皟搴︽垚鍔� 2:鏈夐殰纰嶈皟搴﹀け璐�
+ */
+ public synchronized int checkObstacle(String locNo, List<Integer> whiteShuttles, List<NavigateNode> whiteNodes) {
int innerCircle = 0;
int outerCircle = 3;
Config avoidInnerCircleConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "avoidInnerCircle"));
@@ -202,7 +209,7 @@
List<NavigateNode> innerNodes = getInnerNodes(locNo, innerCircle, whiteShuttlePointList);
List<Integer> nodesCar = findNodesCar(innerNodes);
if (nodesCar.isEmpty()) {
- return false;//鍐呭湀涓棤杞�
+ return 0;//鍐呭湀涓棤杞�
}
//鑾峰彇澶栧湀鑺傜偣
@@ -239,10 +246,11 @@
if (targetLocNo == null) {
continue;
}
- shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(null, targetLocNo, shuttleNo);
+ return dispatched ? 1 : 2;
}
- return true;//鍐呭湀涓湁杞�
+ return 2;//鍐呭湀涓湁杞�
}
private HashMap<String, Integer> findCarMap() {
--
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