Merge remote-tracking branch 'origin/jxgtwcs' into jxgtwcs

zjj

2025-06-09 80d97d40c44165674ee0168be5f08c8ca52d3c06

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

@@ -144,6 +144,12 @@
            }

            // 有没有被其他任务调度
            List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
            if (!taskList.isEmpty()) {
                continue;
            }


            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

@@ -154,10 +160,10 @@

            // 同楼层直接计算到目标库位
            //当前穿梭车线程到当前车子所在楼层的目标库位距离
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(
            List<NavigateNode> currentShuttlePath = navigateUtils.calcWhiteList(
                    currentLocNo
                    , locNo
                    , NavigationMapType.NORMAL.id
                    , NavigationMapType.DFX.id
                    , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
            );//搜索空闲穿梭车，使用正常通道地图
            if (currentShuttlePath == null) {
@@ -228,6 +234,11 @@
                }

                // 有没有被其他任务调度
                List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
                if (!taskList.isEmpty()) {
                    continue;
                }

                int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
                String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

@@ -254,7 +265,7 @@
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                        currentLocNo
                        , targetLocNo
                        , NavigationMapType.NORMAL.id
                        , NavigationMapType.DFX.id
                        , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
                );//搜索空闲穿梭车，使用正常通道地图
                if (currentShuttlePath == null) {
@@ -474,9 +485,9 @@
                continue;
            }

            if(!shuttleThread.isDeviceIdle()) {
                continue;
            }
//            if(!shuttleThread.isDeviceIdle()) {
//                continue;
//            }

            if(shuttleProtocol.getCurrentLocNo() == null) {
                continue;