穿梭车到达提升机口前，优先调度提升机优化

Junjie

2023-04-14 f57741a11f0cce1f7ac0f2c8ab0627c046cb855b

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -9,9 +9,13 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -45,6 +49,8 @@
    private BasShuttleService basShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
@@ -69,20 +75,45 @@
            vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//当前任务状态
            vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
            LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
            if (currentLocMast == null) {
                vo.setLocNo("");//获取当前库位号
                vo.setLocNoX(0);
                vo.setLocNoY(0);
                vo.setLocNoLev(0);//当前库位层高
            }else {
                vo.setLocNo(currentLocMast.getLocNo());//获取当前库位号
                int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//获取库位号XY坐标
                vo.setLocNoX(locNoXY[0]);
                vo.setLocNoY(locNoXY[1]);
                vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//当前库位层高
            }
            vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//电池电量
            vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "°");//电池温度
            if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//错误编号
                vo.setErrorCode(shuttleProtocol.getErrorCodeType());//错误编号
            }
            vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
                vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
                vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
                vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
                vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
            }
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//错误信息码
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//错误信息码
            }
            vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
@@ -247,7 +278,7 @@

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2) {
        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                return R.parse(BaseRes.PARAM);
            }