初步调试

zc

3 天以前 a3cd273234d56c5a36bd0a793a67e533a2141d6d

 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java

@@ -30,6 +30,7 @@
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import javax.rmi.CORBA.Util;
import java.util.*;

/**
@@ -251,7 +252,7 @@
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
                    wrkMastService.updateById(wrkMast1);
                    sameLev.add(0,shuttleThread);
                    sameLev.add(0, shuttleThread);
                    //return true;
                }
                break;
@@ -364,7 +365,8 @@
     */
    public boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        int lev1 = 0;
        boolean tongLev = false;
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -388,6 +390,13 @@
                }
            }
            diffLev.add(shuttleThread);
            if (lev1 != 0) {
                if (lev1 == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                    tongLev = true;
                }
            } else {
                lev1 = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            }
        }

        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
@@ -422,18 +431,27 @@
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);

                    if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
                        //车辆当前位置已经是目标库位，调度该车
                        //给工作档绑定小车号
                        diffShuttles.put(-1, shuttleThread);
                    } else {
                        //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                        int currentValue = Math.abs(lev - currentLev);
                        if (diffShuttles.get(currentValue) != null) {
                            diffShuttles.put(currentValue + 1, shuttleThread);
                        if (tongLev) {
                            //当前穿梭车线程到目标地点距离
                            List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                            if (currentShuttlePath == null) {
                                continue;
                            }
                            Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                            diffShuttles.put(currentAllDistance, shuttleThread);
                        } else {
                            diffShuttles.put(currentValue, shuttleThread);
                            //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                            int currentValue = Math.abs(lev - currentLev);
                            if (diffShuttles.get(currentValue) != null) {
                                diffShuttles.put(currentValue + 1, shuttleThread);
                            } else {
                                diffShuttles.put(currentValue, shuttleThread);
                            }
                        }
                    }
                }