From a68bf17ab81df98882e19b79628e6876bb260468 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期三, 18 六月 2025 10:04:26 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/fyxc_shuttle_wcs' into fyxc_shuttle_wcs
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 41 +++++++++++++++++++++++++++++++++++++++--
1 files changed, 39 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index cba1a01..9451d91 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -44,15 +44,32 @@
Integer shuttleNo = shuttleProtocol.getShuttleNo();
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
+ shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
}
List<NavigateNode> allNode = new ArrayList<>();
+ List<NavigateNode> lockNode = new ArrayList<>();
for (NavigateNode node : nodeList) {
allNode.add(node.clone());
+
+ if (whites != null) {
+ boolean flag = false;
+ for (int[] white : whites) {
+ if(white[0] == node.getX() && white[1] == node.getY()) {
+ flag = true;
+ break;
+ }
+ }
+
+ if (flag) {//鐧藉悕鍗曡烦杩囬攣瀹�
+ continue;
+ }
+ }
+ lockNode.add(node.clone());
}
List<ShuttleCommand> commands = new ArrayList<>();
@@ -78,6 +95,12 @@
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//閿佸畾璺緞
+ if (!result) {
+ News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
+ shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo);
+ return null;//璺緞閿佸畾澶辫触
+ }
return commands;
}
@@ -98,6 +121,7 @@
boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
if (!lockResult) {
News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
+ shuttleThread.offerSystemMsg("{} dash {} can't find unlock path!", startLocNo, endLocNo);
return null;//瑙ｉ攣澶辫触
}
@@ -106,6 +130,7 @@
List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
+ shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
}
@@ -143,7 +168,7 @@
/**
* 鑾峰彇鍏呯數鍛戒护
*/
- public synchronized List<ShuttleCommand> shuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
+ public synchronized List<ShuttleCommand> getShuttleChargeCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean openCharge) {
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍏呯數鍛戒护
@@ -152,6 +177,18 @@
return commands;
}
+ /**
+ * 鑾峰彇椤跺崌鍛戒护
+ */
+ public synchronized List<ShuttleCommand> getShuttleLiftCommand(ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread, Boolean lift) {
+ List<ShuttleCommand> commands = new ArrayList<>();
+
+ //鑾峰彇椤跺崌鍛戒护
+ ShuttleCommand command = shuttleThread.getLiftCommand(assignCommand.getDeviceTaskNo(), lift);
+ commands.add(command);
+ return commands;
+ }
+
// private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
// String movePath = motion.getMovePath();
// if (Cools.isEmpty(movePath)) {
--
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