优化寻车，出库问题

Junjie

2023-06-29 0c9b8fe24e495da1f5e3362fa6b36acc41617cb7

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -53,6 +53,8 @@
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private LocMastService locMastService;
@@ -1100,7 +1102,7 @@

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
//                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }else {
                            //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)
@@ -1278,16 +1280,23 @@
            //同一楼层，没有空闲穿梭车，只能从其他楼层调度
            //寻找离任务最近的穿梭车
            for (ShuttleThread shuttleThread : diffLev) {
                if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
                    recentShuttle = shuttleThread;
                }

                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                int currentLev = Utils.getLev(currentLocNo);
                List<LocMast> locMasts = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                if (locMasts.size() > 0) {
                    //存在其他任务，跳过这辆车
                    continue;
                }

                if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
                    recentShuttle = shuttleThread;
                }
                //目前最近穿梭车库位号
                String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
                int recentLev = Utils.getLev(recentLocNo);


                //当前最近四向穿梭车到当前车子所在楼层的提升机口距离
                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图
@@ -1330,6 +1339,8 @@
            ) {
                //标记复位
                shuttleProtocol.setPakMk(true);

                ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
@@ -1383,6 +1394,23 @@

                    } else {
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    }
                }

                if (assignCommand != null) {
                    if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
                        //避让任务
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //源库位清零
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                    }
                }

@@ -1744,6 +1772,8 @@
                                throw new CoolException("更新plc站点信息失败");
                            }
                            wrkMast.setWrkSts(4L);
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            break;
                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
@@ -1763,6 +1793,8 @@
                            }
                            wrkMast.setWrkSts(29L);
                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            break;
                        default:
                    }
@@ -1772,8 +1804,6 @@
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务指令清零
                        liftProtocol.setAssignCommand(null);
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                        News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());