#

Junjie

2024-04-07 08c96e4b797573fd64b42a52a2f9b9805d59d3e3

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

@@ -1,13 +1,18 @@
package com.zy.asrs.wcs.core.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
@@ -48,6 +53,8 @@
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private BasShuttleService basShuttleService;

    public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -78,7 +85,7 @@
                continue;
            }

            if (!shuttleProtocol.isIdle()) {
            if (!shuttleThread.isIdle()) {
                continue;
            }

@@ -169,5 +176,61 @@
//        return wrkCharge;
//    }

    /**
     * 搜索避让库位，通过小车号和目标库位
     */
    public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) {
        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");
        }

        String idleLoc = basShuttle.getIdleLoc();
        if (Cools.isEmpty(idleLoc)) {
            throw new CoolException("小车避让数据不存在");
        }

        int lev = Utils.getLev(locNo);//当前楼层
        JSONArray standbyLoc = JSON.parseArray(idleLoc);
        if (lev > standbyLoc.size()) {
            throw new CoolException("避让数据异常");
        }

        Object object = standbyLoc.get(lev - 1);
        List<String> locs = JSON.parseArray(object.toString(), String.class);
        if (locs.isEmpty()) {
            throw new CoolException("避让数据为空");
        }

        Integer finalDistance = ShuttleDispatcher.INF;
        String recentLoc = null;
        for (String loc : locs) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
                    locNo
                    , 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;
    }


}