#

Junjie

2025-04-17 035c1e94569a2c043f232f3452d25ad2e51bcf23

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java

@@ -344,6 +344,51 @@
    }

    /**
     * 搜索可用库位，通过小车号和目标库位
     */
    public String searchAvailableLocNo(Integer shuttleNo, Long hostId, String currentLocNo, List<String> locNos) {
        BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                .eq(BasShuttle::getShuttleNo, shuttleNo)
                .eq(BasShuttle::getHostId, hostId));
        if (basShuttle == null) {
            throw new CoolException("小车基础数据不存在");
        }

        if (locNos.isEmpty()) {
            throw new CoolException("当前层无避让位置");
        }

        int lev = Utils.getLev(currentLocNo);

        Integer finalDistance = ShuttleDispatcher.INF;
        String recentLoc = null;
        for (String loc : locNos) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
                    currentLocNo
                    , loc
                    , NavigationMapType.NORMAL.id
                    , Utils.getShuttlePoints(shuttleNo, lev)
            );//使用正常通道地图
            if (currentShuttlePath == null) {
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            if (currDistance < finalDistance) {
                finalDistance = currDistance;
                recentLoc = loc;
            }
        }

        if (recentLoc == null) {
            throw new CoolException("搜索避让位置失败");
        }

        return recentLoc;
    }

    /**
     * 检测目标楼层车数量是否小于允许的最大数量
     * true: 小于最大数量  false: 大于或等于最大数量
     */