#

zjj

2024-07-10 c13fe87d70e81d7dcb604f8f1227de8f313cbefc

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

@@ -17,9 +17,11 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
@@ -86,6 +88,21 @@
                continue;
            }

            BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                    .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
                    .eq(BasShuttle::getHostId, device.getHostId()));
            if (basShuttle == null) {
                continue;//小车基础数据不存在
            }

            if (!Cools.isEmpty(basShuttle.getDisableLev())) {
                List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
                //检查小车是否禁用该楼层
                if (disableLev.contains(Utils.getLev(locNo))) {
                    continue;//小车禁用该楼层跳过该车
                }
            }

            //检测是否存在充电任务
            Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
            if (taskCharge != null) {
@@ -111,10 +128,12 @@
                    continue;
                }

                Device recentTransferLift = Utils.getRecentTransferLift(locNo, Integer.parseInt(device.getDeviceNo()));
                if (recentTransferLift == null) {
                //获取距离目标位置最近的空闲可换层提升机
                LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
                if (liftThread == null) {
                    continue;
                }
                Device recentTransferLift = liftThread.getDevice();

                //获取小车楼层提升机待机位
                ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
@@ -143,7 +162,7 @@
            }

            // 挂载任务权重
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
            if (!Cools.isEmpty(tasks)) {
                currDistance += tasks.size() * WEIGHT;
            }
@@ -284,20 +303,24 @@
        }

        int lev = Utils.getLev(locNo);//当前楼层
        JSONArray standbyLoc = JSON.parseArray(idleLoc);
        if (lev > standbyLoc.size()) {
        List<String> standbyLoc = JSON.parseArray(idleLoc, String.class);
        if (standbyLoc.isEmpty()) {
            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");
        //获取当前层避让位置
        List<String> currentLevStandByLoc = new ArrayList<>();
        for (String loc : standbyLoc) {
            if (Utils.getLev(loc) == lev) {
                currentLevStandByLoc.add(loc);
            }
        }
        if (currentLevStandByLoc.isEmpty()) {
            throw new CoolException("当前层无避让位置");
        }

        Integer finalDistance = ShuttleDispatcher.INF;
        String recentLoc = null;
        for (String loc : locs) {
        for (String loc : currentLevStandByLoc) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
                    locNo
@@ -350,6 +373,9 @@
            if (shuttleProtocol == null) {
                continue;
            }
            if (shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.OFFLINE){
                continue;
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
                if (shuttleProtocol.getHasCharge()) {