From 7ba995f514c6d20a59cc69afa05110110e9b2de5 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期一, 09 十月 2023 08:34:42 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/skwcs' into skwcs
---
src/main/java/com/zy/asrs/utils/Utils.java | 20 +++++++++++++++++---
1 files changed, 17 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 4a3c0a9..393f21e 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -4,7 +4,9 @@
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
@@ -392,6 +394,7 @@
//鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
+ BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
ArrayList<int[]> list = new ArrayList<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
@@ -409,14 +412,25 @@
continue;
}
- if (shuttleProtocol.getCurrentLocNo() == null) {
- continue;
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ if (currentLocNo == null) {
+ //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle == null || basShuttle.getPoint() == null) {
+ continue;
+ }
+ NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
+ currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
}
- if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
continue;//妤煎眰涓嶅悓
}
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
list.add(xyPosition);
}
--
Gitblit v1.9.1