#path similarity

Junjie

2024-12-11 e7ec45ae2fa4bd54d6f8b5db79ee39013d35759b

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

@@ -56,6 +56,8 @@
    private ShuttleStandbyService shuttleStandbyService;
    @Autowired
    private DictService dictService;
    @Autowired
    private NavigateUtils navigateUtils;

    public synchronized ShuttleThread searchIdleShuttle(Task task) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -144,7 +146,7 @@

            // 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.calc(
                    currentLocNo
                    , locNo
                    , NavigationMapType.NORMAL.id
@@ -154,7 +156,7 @@
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离

            // 挂载任务权重
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
@@ -238,7 +240,7 @@
            String targetLocNo = shuttleStandby.getDeviceLoc();

            //当前穿梭车线程到当前车子所在楼层的提升机待机位距离
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                    currentLocNo
                    , targetLocNo
                    , NavigationMapType.NORMAL.id
@@ -248,7 +250,7 @@
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离

            // 不同楼层权重
            if (currentLev != Utils.getLev(locNo)) {
@@ -401,7 +403,7 @@
        String recentLoc = null;
        for (String loc : locNos) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                    currentLocNo
                    , loc
                    , NavigationMapType.NORMAL.id
@@ -411,7 +413,7 @@
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            if (currDistance < finalDistance) {
                finalDistance = currDistance;
                recentLoc = loc;
@@ -521,13 +523,13 @@
    //分析出库路径待机库位
    public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
        //计算路径并分解成两段动作
        List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
        List<NavigateNode> nodeList = navigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
            return null;
        }
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
        ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        if (data.size() <= 1) {
            return startLoc;//两点之间只有一段路径，在起点位置等待
        }