#

Junjie

2023-09-29 f18464143b3be9b0247f8625b7e61115402de328

 src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java

@@ -123,9 +123,15 @@
            }
        }else {
            //同一楼层，没有空闲穿梭车，只能从其他楼层调度
            //寻找离任务最近的穿梭车
            for (NyShuttleThread shuttleThread : diffLev) {
            //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)

            //获取任务
            WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);

            if (wrkMast1 != null) {
                int lev = Utils.getLev(wrkMast1.getLocNo());//目标楼层
                int recentValue = 99999;//最小差值
                for (NyShuttleThread shuttleThread : diffLev) {
                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                int currentLev = Utils.getLev(currentLocNo);
@@ -135,17 +141,13 @@
                    continue;
                }

                //当前穿梭车线程到当前车子所在楼层的提升机口距离
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//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
                if (currentAllDistance < recentAllDistance) {
                    //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 (currentValue < recentValue) {
                    //如果当前楼层的车路径更小，则更新最近穿梭车
                    recentShuttle = shuttleThread;
                    recentAllDistance = currentAllDistance;
                        recentValue = currentValue;
                    }
                }
            }
        }