From a6480edc1d366bfeead1eb2784be13ae747e3f23 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期一, 12 五月 2025 17:12:24 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 46 ++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 42 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 38b1d23..386207f 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,11 +48,11 @@
// private RgvProtocol rgvProtocol;
private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
// # 杞ㄩ亾鎬婚暱
- private Long trackEntireLength = 100L;
+ private Long trackEntireLength = 215000L;
//# 杞ㄩ亾鍩哄噯鐐�
- private Long trackBenchmark = 100L;
+ private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 100L;
+ private Long avoidDistance = 5000L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -343,6 +343,10 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -358,6 +362,10 @@
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -376,12 +384,22 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
rgvTaskProtocol.setAvoid(1);
rgvTaskProtocol.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
}
}
} else {
@@ -395,6 +413,10 @@
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -411,6 +433,10 @@
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -430,12 +456,22 @@
log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
rgvTaskProtocol.setAvoid(1);
rgvTaskProtocol.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
}
}
}
@@ -520,8 +556,10 @@
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
}
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+ rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
--
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