From c50f66695f4decb3786d11e4c5dfa515ce9a994b Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期二, 14 一月 2025 15:33:38 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 18 ++++++++++++++----
1 files changed, 14 insertions(+), 4 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 8353ed6..35dc5bd 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,wrkMast.getSourceStaNo().intValue(),rgvProtocol.getEndStaM().intValue())){
continue;
}
}
--
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