#

Junjie

2024-07-10 e62c1e7ff1fa9623ac3f8e6aa35ad44b725a21ed

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

@@ -20,6 +20,7 @@
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;
@@ -126,10 +127,12 @@
                    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>()
@@ -158,7 +161,7 @@
            }

            // 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;
            }
@@ -299,20 +302,24 @@
        }

        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