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/core/thread/impl/NyShuttleThread.java | 35 ++++++++++++++++++++---------------
1 files changed, 20 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 5e2e26c..44f6187 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -989,7 +989,7 @@
}
@Override
- public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
+ public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean shuttleDirectionReverse) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
@@ -1009,8 +1009,14 @@
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
- int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
- int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ }
+
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
List<MapNode> mapNodes = mapData.get(node.getX());
@@ -1040,7 +1046,7 @@
}
@Override
- public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn) {
+ public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
@@ -1051,7 +1057,7 @@
HashMap<String, Object> body = new HashMap<>();
if (moveIn) {
body.put("requestType", "intoLift");//杩涙彁鍗囨満
- }else {
+ } else {
body.put("requestType", "outLift");//鍑烘彁鍗囨満
}
body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
@@ -1064,8 +1070,14 @@
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
- int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
- int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ }
+
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
List<MapNode> mapNodes = mapData.get(node.getX());
@@ -1330,13 +1342,6 @@
//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
private static int[] WCSXyzToNyXyz(int x, int y, int z) {
-// //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
-// int x1 = Math.abs(y - 61) + 11;
-// //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
-// int y1 = x + 10;
-
-// int x1 = x + 10;
-// int y1 = y + 10;
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
.eq("row1", x)
@@ -1349,7 +1354,7 @@
String qrCodeValue = locMast.getQrCodeValue();
JSONObject data = JSON.parseObject(qrCodeValue);
- return new int[]{data.getInteger("y"), data.getInteger("x"), z};
+ return new int[]{data.getInteger("x"), data.getInteger("y"), z};
}
@Override
--
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