From 73ce8bebcc5d14f3fb62a19ee677abfcdfc776b4 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期六, 19 七月 2025 16:17:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 13 +++++++------
1 files changed, 7 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 b9d252e..6869199 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -10,6 +10,7 @@
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
@@ -50,11 +51,11 @@
@Autowired
private DeviceConfigService deviceConfigService;
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- return getStartToTargetCommands(startLocNo, endLocNo, mapType, null, assignCommand, shuttleThread);
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ return getStartToTargetCommands(startLocNo, endLocNo, mapTypes, null, assignCommand, shuttleThread);
}
- public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, Integer mapType, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, List<NavigationMapType> mapTypes, List<int[]> whites, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return null;
@@ -62,7 +63,7 @@
Integer shuttleNo = shuttleProtocol.getShuttleNo();
//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, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
@@ -122,7 +123,7 @@
return commands;
}
- public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ 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<>();
@@ -145,7 +146,7 @@
//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, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
+ 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);
--
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