From 7580f2c273bc31868274404d3c8d4d836ecc56cf Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期二, 14 一月 2025 15:34:47 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 23 ++++++++++++++++-------
1 files changed, 16 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 20762af..0838cc0 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -267,10 +267,20 @@
&& rgvProtocol.getTaskNo1() == 0
&& rgvProtocol.getAlarm() == 0) {
if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
- double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
- double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
- if (distance * proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate))) {
+// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
+// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
+// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+// if (distance * proportion > ((SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate))) {
+// continue;
+// }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+ if (basDevpPositions.isEmpty()) {
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ break runRgv;
+ }
+ List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+
+ if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
continue;
}
}
@@ -299,10 +309,9 @@
log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
}
break runRgv;
+ } else {
+ break runRgv;
}
-// else {
-// break runRgv;
-// }
}
}
}
--
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