From c9c80ecde06d151f4f2f3ccf46d3f4c0e65cd8a1 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 23 九月 2025 13:13:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 34 +++++++++++++++++++++++++++-------
1 files changed, 27 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 2f826fc..c4fe002 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -72,6 +72,17 @@
}
}
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+
+ //灏忚溅(x,y)鍛戒护杩愯鏂瑰悜棰犲��
+ boolean shuttleDirectionReverse = false;
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ if (systemConfigMap.get("shuttleDirectionReverse").equals("Y")) {
+ shuttleDirectionReverse = true;
+ }
+ }
+
long calcStartTime = System.currentTimeMillis();
List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapTypes, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
@@ -133,15 +144,15 @@
long startGetMoveCommandTime = System.currentTimeMillis();
//鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
+ ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, shuttleDirectionReverse);
News.info("[RCS Debug] getMoveCommand idx:{} time:{}", i, (System.currentTimeMillis() - startGetMoveCommandTime));
if (i + 1 == data.size()) {
long startGetInOutLiftTime = System.currentTimeMillis();
if (moveType.equals("inLift")) {
- command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true);
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, true, shuttleDirectionReverse);
}else if (moveType.equals("outLift")) {
- command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false);
+ command = shuttleThread.getMoveLiftCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes, false, shuttleDirectionReverse);
}
News.info("[RCS Debug] getInOutLiftTime idx:{} time:{}", i, (System.currentTimeMillis() - startGetInOutLiftTime));
}
@@ -156,9 +167,8 @@
//灏忚溅绉诲姩杩炵画涓嬪彂鎸囦护
boolean shuttleMoveCommandsContinuously = false;
- Object object = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
- if (object != null) {
- HashMap<String, String> systemConfigMap = (HashMap<String, String>) object;
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
String shuttleMoveCommandsContinuouslyConfig = systemConfigMap.get("shuttleMoveCommandsContinuously");
if (shuttleMoveCommandsContinuouslyConfig != null && shuttleMoveCommandsContinuouslyConfig.equals("Y")) {
shuttleMoveCommandsContinuously = true;
@@ -371,7 +381,17 @@
int[] pointArr = NavigatePositionConvert.positionToXY(locNo);
NavigateNode currentNode = new NavigateNode(pointArr[0], pointArr[1]);
currentNode.setZ(lev);
- innerNodes.add(currentNode);
+
+ boolean addCurrentNode = true;
+ for (int[] shuttlePoint : whiteShuttlePointList) {
+ if(currentNode.getX() == shuttlePoint[0] && currentNode.getY() == shuttlePoint[1]) {
+ addCurrentNode = false;
+ break;
+ }
+ }
+ if (addCurrentNode) {
+ innerNodes.add(currentNode);
+ }
List<List<MapNode>> lists = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘
int[][] map = navigateMapData.parseJsonDataArr(lists);
--
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