#

tzsk

2024-02-07 8dc3bcb40363cc6f9281092b4f6ea0ebcb9335b0

 src/main/java/com/zy/core/thread/NyShuttleThread.java

@@ -435,7 +435,7 @@
                        if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
                            nodes.remove(nodes.size() - 1);//剔除尾节点
                        }
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//解锁路径
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo().intValue(), nodes, false);//解锁路径
                        if (!result) {
                            return false;//解锁失败
                        }
@@ -800,7 +800,7 @@
                    }
                }
            }
        }else {//跑库位
        } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值，进行归零且Y方向+1
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -824,12 +824,56 @@
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//小车和目标位置一致，跳过
            }else {
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
                if (result) {//调度成功
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (yCurrent.equals(shuttleProtocol.getYStart())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//小车和目标位置一致，切换库位
                }else {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//小车和目标位置一致，切换库位
                }
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
                if (result) {//调度成功
                    if (yCurrent.equals(shuttleProtocol.getYStart())) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//切换库位
                    }else {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//切换库位
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (xCurrent.equals(shuttleProtocol.getXStart())) {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
                }else {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
                }
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
                if (result) {//调度成功
                    if (xCurrent.equals(shuttleProtocol.getXStart())) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
                    }else {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
                    }
                }
            }
        }
    }