#

Junjie

2023-09-29 f18464143b3be9b0247f8625b7e61115402de328

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 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -1196,6 +1196,17 @@

        //23.小车搬运完成 ==> 24.提升机搬运中
        if (wrkMast.getWrkSts() == 23) {
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }

            //调度小车避让
            boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getLocNo()), wrkMast.getShuttleNo(), shuttleThread);
            if (!result) {
                return false;
            }

            //获取出库站点(目标站)
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
@@ -1968,7 +1979,7 @@
                    continue;
                }

                if (wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                    Short targetSta = null;//目标站
                    //判断机械臂拣料站是否空闲
                    StaProtocol staProtocol303 = devpThread.getStation().get(303);
@@ -2006,28 +2017,30 @@
            StaProtocol staProtocol317 = devpThread.getStation().get(317);
            if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
//                //查询是否有工作档
//                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
//                if (wrkMast == null) {
//                    continue;
//                }
//                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
//                if (wrkDetl == null) {
//                    continue;
//                }
//                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "303");
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
                if (wrkMast == null) {
                    continue;
                }
                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
                if (wrkDetl == null) {
                    continue;
                }
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
//                //查询是否有工作档
//                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
//                if (wrkMast == null) {
//                    continue;
//                }
//                WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
//                if (wrkDetl == null) {
//                    continue;
//                }
//                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
                RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "317");
            }
        }
    }

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -354,29 +354,6 @@
        return locNo;
    }

    //楼层转换对应出入库站点库位号
    public static String levToOutInStaLocNo(Integer lev) {
        String locNo = null;
        if (lev >= 2) {
            lev++;
        }
        switch (lev) {
            case 1:
                locNo = "1800201";
                break;
            case 3:
                locNo = "1800202";
                break;
            case 4:
                locNo = "1800203";
                break;
            case 5:
                locNo = "1800204";
                break;
        }
        return locNo;
    }

    public static void main(String[] args) {
        System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
    }

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

@@ -123,9 +123,15 @@
            }
        }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)

            //获取任务
            WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);

            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);
@@ -135,17 +141,13 @@
                    continue;
                }

                //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;
                }

                Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                if (currentAllDistance < recentAllDistance) {
                    //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;
                    recentAllDistance = currentAllDistance;
                        recentValue = currentValue;
                    }
                }
            }
        }