穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等

Junjie

2023-04-12 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04

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

@@ -728,13 +728,13 @@
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
//                StaProtocol staProtocol105 = devpThread.getStation().get(105);
//                staProtocol105.setWorkNo((short) 752);
//                staProtocol105.setStaNo((short) 100);
//
//                StaProtocol staProtocol106 = devpThread.getStation().get(106);
//                staProtocol106.setWorkNo((short) 753);
//                staProtocol106.setStaNo((short) 100);
                StaProtocol staProtocol105 = devpThread.getStation().get(105);
                staProtocol105.setWorkNo((short) 752);
                staProtocol105.setStaNo((short) 100);

                StaProtocol staProtocol106 = devpThread.getStation().get(106);
                staProtocol106.setWorkNo((short) 753);
                staProtocol106.setStaNo((short) 100);

                if (staProtocol == null) {
                    continue;
@@ -851,14 +851,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -890,14 +898,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -930,14 +946,22 @@

            command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);