入库呼叫agv取货

pang.jiabao

2024-10-31 7964ad29dc282c472a56945b857343105463fd0a

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -28,6 +28,13 @@

    private static final DecimalFormat fmt = new DecimalFormat("##0.00");

    public static boolean isNorth(Integer sourceStaNo){
        if ((sourceStaNo>1000 && sourceStaNo < 1040) || (sourceStaNo>2000 && sourceStaNo > 2010)|| (sourceStaNo > 3000 && sourceStaNo < 3010)){
            return true;
        }
        return false;
    }

    public static float scale(Float f) {
        if (f == null || f == 0f || Float.isNaN(f)) {
            return 0f;
@@ -256,27 +263,34 @@
        return false;
    }

    public static boolean BooleanWhsTypeSta2(Integer whsType) {
        if (whsType == 1 || whsType == 2 || whsType == 5 || whsType==3 || whsType==4 || whsType == 9) {
            return true;
        }
        return false;
    }

    public static int RowCount(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
        return LocNecessaryParameters(rowLastno, curRow, crnNumber)[0];
        return LocNecessaryParameters(rowLastno, curRow, crnNumber,0)[0];
    }

    public static int getCurRow(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
        return LocNecessaryParameters(rowLastno, curRow, crnNumber)[1];
        return LocNecessaryParameters(rowLastno, curRow, crnNumber,0)[1];
    }

    public static int getCrnNo(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
        return LocNecessaryParameters(rowLastno, curRow, crnNumber)[2];
        return LocNecessaryParameters(rowLastno, curRow, crnNumber,0)[2];
    }

    public static int getNearRow(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
        return LocNecessaryParameters(rowLastno, curRow, crnNumber)[3];
        return LocNecessaryParameters(rowLastno, curRow, crnNumber,0)[3];
    }

    //库位排号分配
    public static int[] LocNecessaryParameters(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
    public static int[] LocNecessaryParameters(RowLastno rowLastno, Integer curRow, Integer crnNumber,Integer whsType) {
        switch (rowLastno.getTypeId()) {
            case 1://经典双伸库位
                return LocNecessaryParametersDoubleExtension(rowLastno, curRow, crnNumber); //已完善
                return LocNecessaryParametersDoubleExtension(whsType, curRow, crnNumber); //已完善
            case 2://经典单伸库位（2排货架）
                return LocNecessaryParametersDoubleExtension2(rowLastno, curRow, crnNumber); //已完善
            case 3://经典单双伸库位  左单右双(小单大双)
@@ -295,39 +309,37 @@
    }

    //经典双伸库位
    public static int[] LocNecessaryParametersDoubleExtension(RowLastno rowLastno, Integer curRow, Integer crnNumber) {
    public static int[] LocNecessaryParametersDoubleExtension(Integer whsType, Integer curRow, Integer crnNumber) {
        int[] necessaryParameters = new int[]{0, 0, 0, 0};

        Integer sRow = rowLastno.getsRow();
        Integer sCrnNo = rowLastno.getsCrnNo();
        necessaryParameters[0] = crnNumber; // 轮询次数
        //满板正常入库
        if (curRow.equals(crnNumber * 4 + sRow - 1)) {
            necessaryParameters[1] = sRow;    //curRow   最深库位排
            necessaryParameters[2] = sCrnNo;     //crnNo     堆垛机号
            necessaryParameters[3] = sRow + 1;    //nearRow  最浅库位排
        } else if (curRow.equals((crnNumber - 1) * 4 + sRow)) {
            necessaryParameters[1] = sRow + 3;    //curRow   最深库位排
            necessaryParameters[2] = sCrnNo;     //crnNo     堆垛机号
            necessaryParameters[3] = sRow + 2;    //nearRow  最浅库位排
        } else {
            curRow = curRow + 4;
            if (curRow < sRow || curRow > (crnNumber * 4 + sRow - 1)) {
                throw new CoolException("库位排号异常：排号：" + curRow);
            }
            if ((curRow - sRow) % 4 == 0) {
                necessaryParameters[1] = curRow;    //curRow   最深库位排
                necessaryParameters[2] = (curRow - sRow + 2) / 4 + sCrnNo - 1;     //crnNo     堆垛机号
                necessaryParameters[3] = curRow + 1;    //nearRow  最浅库位排
            } else if ((curRow - sRow + 1) % 4 == 0) {
                necessaryParameters[1] = curRow;    //curRow   最深库位排
                necessaryParameters[2] = (curRow - sRow + 1) / 4 + sCrnNo - 1;     //crnNo     堆垛机号
                necessaryParameters[3] = curRow - 1;    //nearRow  最浅库位排
        if (BooleanWhsTypeSta2(whsType)) {
            necessaryParameters[0] = crnNumber; // 轮询次数
            //满板正常入库
            if (curRow.equals(crnNumber * 4)) {
                necessaryParameters[1] = 1;    //curRow   最深库位排
                necessaryParameters[2] = 1;     //crnNo     堆垛机号
                necessaryParameters[3] = 2;    //nearRow  最浅库位排
            } else if (curRow.equals(crnNumber * 4 - 3)) {
                necessaryParameters[1] = 4;    //curRow   最深库位排
                necessaryParameters[2] = 1;     //crnNo     堆垛机号
                necessaryParameters[3] = 3;    //nearRow  最浅库位排
            } else {
                throw new CoolException("库位排号异常：排号：" + curRow);
                curRow = curRow + 4;
                if (curRow < 1 || curRow > (crnNumber * 4)) {
                    throw new CoolException("库位排号异常：排号：" + curRow);
                }
                if ((curRow - 1) % 4 == 0) {
                    necessaryParameters[1] = curRow;    //curRow   最深库位排
                    necessaryParameters[2] = (curRow + 3) / 4;     //crnNo     堆垛机号
                    necessaryParameters[3] = curRow + 1;    //nearRow  最浅库位排
                } else if (curRow % 4 == 0) {
                    necessaryParameters[1] = curRow;    //curRow   最深库位排
                    necessaryParameters[2] = curRow / 4;     //crnNo     堆垛机号
                    necessaryParameters[3] = curRow - 1;    //nearRow  最浅库位排
                } else {
                    throw new CoolException("库位排号异常：排号：" + curRow);
                }
            }
        }

        return necessaryParameters;
    }