优化出库小车避让

Junjie

2023-06-28 97aa2cd09e92f73cd4dff3d99eaef64e748c80b3

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

@@ -1086,26 +1086,6 @@
                                //未找到路径，等待下一次
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            NavigateMapData navigateMapData = new NavigateMapData(currentLev);
                            navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                            String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                            ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                            commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                            List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                            nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                            assignCommand.setNodes(nodes);
                            navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1177,26 +1157,6 @@
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));
                        navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        //搜索一条没有小车的空巷道，并调度小车
                        int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                        String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                        ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                        if (moveAssignCommand == null) {//调度小车命令为空
                            continue;
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                        commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                        List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                        nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                        assignCommand.setNodes(nodes);
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
@@ -1373,6 +1333,7 @@

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                ShuttleAssignCommand moveAssignCommand = null;//避让命令
                if (wrkMast != null) {
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 9://9.小车入库搬运中 ==> 14.入库完成
@@ -1385,6 +1346,15 @@
                            wrkMast.setWrkSts(23L);
                            break;
                        case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
                            String startLocNo = "180020" + distLev;
                            moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }

                            wrkMast.setWrkSts(27L);
                            break;
                        default:
@@ -1402,6 +1372,15 @@
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());

                        if (wrkMast.getWrkSts() == 27) {
                            if (moveAssignCommand != null) {
                                //下发任务
                                shuttleProtocol.setPakMk(true);
                                MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
                            }
                        }

                    } 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());
                    }