From 9a07fed7b55d37d5e15df449b54b8c4b7e9a8e68 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期日, 11 五月 2025 17:25:18 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 20 ++++++++++++++++----
src/main/java/com/zy/core/model/protocol/RgvProtocol.java | 8 ++++++++
2 files changed, 24 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index 43d9bfb..7eeef65 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -125,6 +125,14 @@
return basRgv;
}
+ public long getRgvPosDestinationOrPos(boolean sign){
+ if (!sign){
+ return RgvPosDestination>RgvPos? RgvPosDestination:RgvPos;
+ } else {
+ return RgvPosDestination<RgvPos? RgvPosDestination:RgvPos;
+ }
+ }
+
public void setxSpeed(Short xSpeed) {
this.xSpeed = Float.valueOf(xSpeed);
}
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 274eee4..386207f 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -345,7 +345,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -365,7 +365,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -395,6 +395,12 @@
}
return false;
}
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
}
} else {
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
@@ -410,7 +416,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -430,7 +436,7 @@
}
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
if (avoidAbs<51){
- return false;
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -461,6 +467,12 @@
}
return false;
}
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
}
}
return false;
--
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