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/service/impl/MainServiceImpl.java

@@ -728,13 +728,13 @@
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
//                StaProtocol staProtocol105 = devpThread.getStation().get(105);
//                staProtocol105.setWorkNo((short) 752);
//                staProtocol105.setStaNo((short) 100);
//
//                StaProtocol staProtocol106 = devpThread.getStation().get(106);
//                staProtocol106.setWorkNo((short) 753);
//                staProtocol106.setStaNo((short) 100);
                StaProtocol staProtocol105 = devpThread.getStation().get(105);
                staProtocol105.setWorkNo((short) 752);
                staProtocol105.setStaNo((short) 100);

                StaProtocol staProtocol106 = devpThread.getStation().get(106);
                staProtocol106.setWorkNo((short) 753);
                staProtocol106.setStaNo((short) 100);

                if (staProtocol == null) {
                    continue;
@@ -797,6 +797,20 @@
                                //同一层直接取货无需经过提升机
                                //直接计算车到提升机取货再到库位路径指令
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
                                if (wrkMast.getWrkSts() == 8) {
                                    //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                                    BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
                                    ShuttleCommand moveCommand = new ShuttleCommand();
                                    moveCommand.setCommandWord((short) 1);
                                    moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机内部二维码
                                    moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//提升机口二维码
                                    moveCommand.setStartToDistDistance(1300);
                                    moveCommand.setMiddleToDistDistance(0);
                                    moveCommand.setRunDirection(commands.get(0).getRunDirection());
                                    moveCommand.setRunSpeed((short) 1000);
                                    moveCommand.setCommandEnd((short) 1);
                                    commands.add(0, moveCommand);//将该指令添加到队头
                                }
                                assignCommand.setCommands(commands);
                                //分配目标库位
                                shuttleProtocol.setLocNo(wrkMast.getLocNo());
@@ -851,14 +865,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -890,14 +912,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -930,14 +960,22 @@

            command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -1056,6 +1094,19 @@
                        }
                    } else if (wrkMast.getWrkSts() == 25) {
                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                        BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
                        ShuttleCommand moveCommand = new ShuttleCommand();
                        moveCommand.setCommandWord((short) 1);//小车移动指令字
                        moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机二维码
                        moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
                        moveCommand.setStartToDistDistance(1300);
                        moveCommand.setMiddleToDistDistance(0);
                        moveCommand.setRunDirection(commands.get(0).getRunDirection());
                        moveCommand.setRunSpeed((short) 1000);
                        moveCommand.setCommandEnd((short) 1);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                        //目标库位