#

野心家

2023-10-03 f63aa158cd182f1ab40fc475ca2944eacfc8705a

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

@@ -14,6 +14,7 @@
import com.zy.common.service.CommonService;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleChargeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
@@ -81,7 +82,13 @@

            if (currentLocNo.equals(locNo)) {
                //车辆当前位置已经是目标库位，调度该车
                shuttleMoveGenerate(wrkNo, locNo, shuttleProtocol.getShuttleNo().intValue());
                //给工作档绑定小车号
                WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                    wrkMastMapper.updateById(wrkMast1);
                    return true;
                }
                break;
            }

@@ -117,29 +124,31 @@
            }
        }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)

                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                int currentLev = Utils.getLev(currentLocNo);
                List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                if (wrkMasts1.size() > 0) {
                    //存在其他任务，跳过这辆车
                    continue;
                }
            //获取任务
            WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);

                //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;
                }
            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);
                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                    if (wrkMasts1.size() > 0) {
                        //存在其他任务，跳过这辆车
                        continue;
                    }

                Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                if (currentAllDistance < recentAllDistance) {
                    //如果当前楼层的车路径更小，则更新最近穿梭车
                    recentShuttle = shuttleThread;
                    recentAllDistance = currentAllDistance;
                    //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;
                        recentValue = currentValue;
                    }
                }
            }
        }
@@ -188,7 +197,23 @@
        //判断是否有充电任务正在使用穿梭车
        WrkCharge wrkCharge = wrkChargeMapper.selectWorking(shuttleNo);
        if (wrkCharge != null) {//小车存在充电任务，等待执行完成后再生成新的任务
            return false;
            //判断目标点是否为充电桩，如果是去充电则放行
            boolean toCharge = false;//去充电目标
            for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                if (chargeType.locNo.equals(locNo)) {
                    toCharge = true;//去充电桩
                    break;
                }
            }

            if (wrkCharge.getWrkSts() == 53) {
                toCharge = true;//充电结束，允许生成移库任务
            }

            if (!toCharge) {
                //不是去充电桩且存在充电任务，禁止生成新的移动任务
                return false;
            }
        }

        Integer sourceStaNo = null;//小车换层源站点