From 8abca3f5413d977f5b11ed74b12ee39cc8570851 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 22 八月 2023 13:20:03 +0800
Subject: [PATCH] #console
---
src/main/java/com/zy/common/utils/NyHttpUtils.java | 21 +++++++++++----------
1 files changed, 11 insertions(+), 10 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyHttpUtils.java b/src/main/java/com/zy/common/utils/NyHttpUtils.java
index fd22a84..8af6760 100644
--- a/src/main/java/com/zy/common/utils/NyHttpUtils.java
+++ b/src/main/java/com/zy/common/utils/NyHttpUtils.java
@@ -13,7 +13,7 @@
*/
public class NyHttpUtils {
- private static final String requestUrl = "localhost:9090/skwcs";
+ private static final String requestUrl = "localhost:9090/tzskwcs";
//鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo) {
@@ -54,8 +54,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", navigateNodeToPointNode(start));//璧风偣
- body.put("target", navigateNodeToPointNode(target));//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -70,8 +70,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", in ? "intoLift" : "outLift");//杩涘嚭鎻愬崌鏈�
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", navigateNodeToPointNode(start));//璧风偣
- body.put("target", navigateNodeToPointNode(target));//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -296,12 +296,13 @@
return null;
}
- //鍦板浘鑺傜偣杞崲鏅�氳妭鐐箈yz
- public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToPointNode(NavigateNode node) {
+ //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
+ public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
+ int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
- point.setX(node.getX());
- point.setY(node.getY());
- point.setZ(node.getZ());
+ point.setX(NyPosition[0]);
+ point.setY(NyPosition[1]);
+ point.setZ(NyPosition[2]);
return point;
}
--
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