999

zhangc

2025-04-19 f0e2feba85291e700eae3b0a8cedd28f37b44c02

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

@@ -207,7 +207,7 @@
            }
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        //News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return false;
    }

@@ -244,7 +244,7 @@
            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

            if (currentLocNo.equals(locNo)) {
            if (currentLocNo.equals(locNo) || currentLocNo.equals(sourceLocNo)) {
                //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
                WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
@@ -278,12 +278,22 @@
                    sameShuttles.put(-1, shuttleThread);
                    continue;
                }

                //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(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                if (currentShuttlePath == null) {
                    continue;
                //TODO
                List<NavigateNode> currentShuttlePath;
                if (Utils.getLev(currentLocNo) != Utils.getLev(locNo)) {
                    //当前穿梭车线程到目标地点距离
                    currentShuttlePath = navigateUtils.calc(currentLocNo, sourceLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                    if (currentShuttlePath == null) {
                        continue;
                    }
                } else {
                    //当前穿梭车线程到目标地点距离
                    currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, 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
                sameShuttles.put(currentAllDistance, shuttleThread);
            }
@@ -357,6 +367,7 @@
        return false;
    }


    /**
     * 小车迁移任务生成
     */
@@ -402,13 +413,13 @@
        }

        //判断是否有其他任务正在使用穿梭车
        WrkMast wrkMast2 = wrkMastService.selectShuttleWorking(shuttleNo);
        WrkMast wrkMast2 = wrkMastService.selectShuttleWorking2(shuttleNo, wrkNo, mainWrkMast != null ? mainWrkMast.getMainWrkNo() : null);
        if (wrkMast2 != null && !disableCheck) {//小车存在其他工作档任务，等待执行完成后再生成新的任务
            if (mainWrkMast == null) {
                News.info("{}号小车，存在其他工作档任务，等待执行完成再生成新的任务", shuttleNo);
                return false;
            } else {
                if (!mainWrkMast.getShuttleNo().equals(shuttleNo)) {
                if (mainWrkMast.getShuttleNo() != null && !mainWrkMast.getShuttleNo().equals(shuttleNo)) {
                    News.info("{}号小车，存在其他工作档任务，等待执行完成再生成新的任务", shuttleNo);
                    return false;
                }