#

Junjie

2025-03-14 b482258ae8a6e2dec2a85c9280ad16c9473c4eff

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

@@ -74,6 +74,8 @@
    private ForkLiftAction forkLiftAction;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private BasShuttleChargeService basShuttleChargeService;

    /**
     * 初始化实时地图
@@ -1082,6 +1084,12 @@
     */
    public synchronized void loopShuttleCharge() {
        try {

            List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
            if (charges.isEmpty()) {
                return;//无充电桩
            }

            for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
                //获取四向穿梭车线程
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -1102,17 +1110,17 @@

                //小车所在楼层
                int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
                ShuttleChargeType shuttleCharge = null;
                BasShuttleCharge shuttleCharge = null;

                //搜索小车所在楼层有没有充电桩
                for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                    if (lev != Utils.getLev(chargeType.locNo)) {
                for (BasShuttleCharge charge : charges) {
                    if (lev != Utils.getLev(charge.getLocNo())) {
                        continue;//小车和充电桩不在同一层
                    }

                    //小车和充电桩在同一层
                    if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
                        shuttleCharge = chargeType;
                    if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                        shuttleCharge = charge;
                        break;
                    }
                }
@@ -1120,17 +1128,17 @@
                if (shuttleCharge == null) {
                    //同楼层没有找到充电桩，找可用充电桩
                    //小车同楼层没有充电桩，只要充电桩可用就生成充电任务
                    for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                        if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
                    for (BasShuttleCharge charge : charges) {
                        if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                            //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
                            int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
                            int chargeLev = Utils.getLev(charge.getLocNo());//充电桩楼层
                            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
                            if (checkLevHasShuttle) {
                                //当前充电桩楼层有穿梭车，不分配该充电桩
                                continue;
                            }

                            shuttleCharge = chargeType;
                            shuttleCharge = charge;
                            break;
                        }
                    }
@@ -1140,9 +1148,9 @@
                    continue;
                }

                String chargeLocNo = shuttleCharge.locNo;
                String chargeLocNo = shuttleCharge.getLocNo();
                wrkMast = new WrkMast();
                wrkMast.setMk(String.valueOf(shuttleCharge.id));
                wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
                wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
                wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
                wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
@@ -1357,13 +1365,13 @@
                return false;
            }

            ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
            if(chargeType == null) {
            BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
            if(basShuttleCharge == null) {
                return false;
            }

            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
            if (!dispatched) {
                return false;
            }