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

@@ -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());
@@ -1080,6 +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