From dcc22bb94c4c3d36550e9f9e3a3a0911351fe461 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 15:20:52 +0800
Subject: [PATCH] 地图节点转换牛眼节点
---
src/main/java/com/zy/common/utils/NyHttpUtils.java | 19 ++++++++++---------
1 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyHttpUtils.java b/src/main/java/com/zy/common/utils/NyHttpUtils.java
index fd22a84..4228f55 100644
--- a/src/main/java/com/zy/common/utils/NyHttpUtils.java
+++ b/src/main/java/com/zy/common/utils/NyHttpUtils.java
@@ -54,8 +54,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", navigateNodeToPointNode(start));//璧风偣
- body.put("target", navigateNodeToPointNode(target));//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -70,8 +70,8 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", in ? "intoLift" : "outLift");//杩涘嚭鎻愬崌鏈�
body.put("taskId", wrkNo);//浠诲姟鍙�
- body.put("start", navigateNodeToPointNode(start));//璧风偣
- body.put("target", navigateNodeToPointNode(target));//缁堢偣
+ body.put("start", navigateNodeToNyPointNode(start));//璧风偣
+ body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
httpStandard.setRequest(request);
@@ -296,12 +296,13 @@
return null;
}
- //鍦板浘鑺傜偣杞崲鏅�氳妭鐐箈yz
- public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToPointNode(NavigateNode node) {
+ //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
+ public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
+ int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
- point.setX(node.getX());
- point.setY(node.getY());
- point.setZ(node.getZ());
+ point.setX(NyPosition[0]);
+ point.setY(NyPosition[1]);
+ point.setZ(NyPosition[2]);
return point;
}
--
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