From d3cc456ffe53a2423c80377d4d96b79459405e29 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 09 九月 2023 16:21:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java | 35 +++++++++++++++++++++--------------
1 files changed, 21 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
index 6fdcd57..bd0d0e6 100644
--- a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
@@ -23,26 +23,32 @@
* @param targetPoint 鐩爣鐐癸紙璐х墿鐩爣浣嶇疆锛�
*/
public static NyShuttleOperaResult getShuttleTransportCommands(Integer shuttleNo, Integer wrkNo, String startPoint, String middlePoint, String targetPoint) {
- //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
- NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint);
- //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
- NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint);
- if (result1 == null || result2 == null) {
- //涓や釜璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
- return null;
- }
-
//琛岃蛋璺緞
ArrayList<NavigateNode> nodes = new ArrayList<>();
- nodes.addAll(result1.getNodes());
- nodes.addAll(result2.getNodes());
-
//鍛戒护闆嗗悎
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.addAll(result1.getCommands());
+
+ if (!startPoint.equals(middlePoint)) {//璧风偣鍜屼腑闂寸偣涓嶄竴鑷达紝闇�瑕佽绠楄捣鐐瑰埌涓棿鐐硅矾寰�
+ //璁＄畻璧风偣鍒颁腑闂寸偣鍛戒护
+ NyShuttleOperaResult result1 = getStartToTargetCommands(shuttleNo, wrkNo, startPoint, middlePoint);
+ if (result1 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result1.getNodes());
+ commands.addAll(result1.getCommands());
+ }
+
+ //璁＄畻涓棿鐐瑰埌鐩爣鐐瑰懡浠�
+ NyShuttleOperaResult result2 = getStartToTargetCommands(shuttleNo, wrkNo, middlePoint, targetPoint);
+ if (result2 == null) {
+ //璁＄畻缁撴灉蹇呴』涓嶄负绌猴紝鍚﹀垯璁＄畻澶辫触
+ return null;
+ }
+ nodes.addAll(result2.getNodes());
//褰撳皬杞﹁璧板埌涓棿鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉￠《鍗囧懡浠ゅ皢璐х墿杩涜鎼繍
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, true));
- commands.addAll(result2.getCommands());
+ commands.addAll(result2.getCommands());//涓棿鐐瑰埌鐩爣鐐圭Щ鍔ㄥ懡浠�
//褰撳皬杞﹁璧板埌鐩爣鐐瑰悗锛岄渶瑕佷笅鍙戜竴鏉′笅闄嶅懡浠ゅ皢璐х墿鏀剧疆
commands.add(NyHttpUtils.getPalletLiftCommand(shuttleNo, wrkNo, false));
return result(commands, nodes);
@@ -71,6 +77,7 @@
NavigateNode targetPath = nodes.get(nodes.size() - 1);
//鑾峰彇绉诲姩鍛戒护
NyShuttleHttpCommand moveCommand = NyHttpUtils.getMoveCommand(shuttleNo, wrkNo, startPath, targetPath);
+ moveCommand.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(moveCommand);
}
--
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