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避让修改

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lgh 2022-07-14 21:53:07 +08:00
parent 52dfdc9c7f
commit 766b17274b
1 changed files with 7 additions and 7 deletions
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14
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
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@ -1227,11 +1227,11 @@ public class AsynRunTaskService extends BaseService {
if (conflictBoolean){ if (conflictBoolean){
Integer status = moveRgv(2, currTaskId, 2,0); Integer status = moveRgv(2, currTaskId, 2,0);
if (status!=1){ if (status!=1){
logger.info("===执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行失败==="); logger.info("===执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行失败"); webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行失败");
return; return;
} }
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位39，执行成功==="); logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位2，执行成功===");
} }
}else { }else {
logger.info("RGV2不在线，跳过检测是否避让。"); logger.info("RGV2不在线，跳过检测是否避让。");
@ -1248,13 +1248,13 @@ public class AsynRunTaskService extends BaseService {
//两辆小车是否冲突 //两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition); Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), rgv1CurrPosition);
if (conflictBoolean){ if (conflictBoolean){
Integer status = moveRgv(1, currTaskId, 12,0); Integer status = moveRgv(1, currTaskId, 39,0);
if (status!=1){ if (status!=1){
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行失败==="); logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行失败===");
webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行失败"); webSocketServer.sendtoAll(LocalDateTime.now()+"执行任务："+currTask.getTaskCode()+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行失败");
return; return;
} }
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位1，执行成功==="); logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，执行车辆位移任务，车辆"+anotherVehicleId+"移动到点位12，执行成功===");
} }
}else { }else {
logger.info("RGV1不在线，跳过检测是否避让。"); logger.info("RGV1不在线，跳过检测是否避让。");