server commit files

fyxc

2025-05-22 09fcc4ec56a1ce6c0fcb308348d8dd5e2c08d336

 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java

@@ -251,7 +251,8 @@
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
                    wrkMastService.updateById(wrkMast1);
                    return true;
                    sameLev.add(0, shuttleThread);
                    //return true;
                }
                break;
            }
@@ -361,9 +362,10 @@
    /**
     * 调度车辆
     */
    public boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
    public synchronized boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        int lev1 = 0;
        boolean tongLev = false;
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -386,10 +388,21 @@
                    continue;//小车被禁用
                }
            }
            WrkMast wrkMast = wrkMastService.selectByShuttleNo(basShuttle.getShuttleNo());
            if(wrkMast!=null){
                continue;
            }
            diffLev.add(shuttleThread);
            if (lev1 != 0) {
                if (lev1 == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                    tongLev = true;
                }
            } else {
                lev1 = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            }
        }

        //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)
        //
        if (!diffLev.isEmpty()) {
            Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map
            //获取任务
@@ -410,30 +423,49 @@


                //检测目标楼层车数量是否小于允许的最大数量
                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
                    return false;
                }
//                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
//                if (!checkDispatchMaxNum) {
//                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
//                    return false;
//                }

                for (ShuttleThread shuttleThread : diffLev) {
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);

                    if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
                        //车辆当前位置已经是目标库位，调度该车
                        //给工作档绑定小车号
                        diffShuttles.put(-1, shuttleThread);
                        diffShuttles.put(-2, shuttleThread);
                    } else {
//                        if (tongLev && diffLev.size() >= 2) {
//                            //当前穿梭车线程到目标地点距离
//                            List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//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
//                            diffShuttles.put(currentAllDistance, shuttleThread);
//                        } else {
                        //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 (diffShuttles.get(currentValue) != null) {
                            diffShuttles.put(currentValue + 1, shuttleThread);
                            try {
                                List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//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
                                diffShuttles.put(currentAllDistance, shuttleThread);
                                diffShuttles.put(currentValue - 1, shuttleThread);
                            } catch (Exception e) {
                                diffShuttles.put(currentValue + 1, shuttleThread);
                            }
                        } else {
                            diffShuttles.put(currentValue, shuttleThread);
                        }
                        //                   }
                    }
                }