From 0f5a5a759221bde50ace126eae797326837f5f72 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 16 十月 2024 16:15:12 +0800
Subject: [PATCH] #

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java |   35 +++++++++++++----------------------
 1 files changed, 13 insertions(+), 22 deletions(-)

diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
index 5c2f664..fbad661 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -476,10 +476,8 @@
             //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
             String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
 
-            //绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
-            List<String> standbyLocs = shuttleStandbyFrom.getStandbyLoc$();//鑾峰彇鍏ㄩ儴寰呮満浣�
-            //鑾峰彇鍙敤寰呮満浣�
-            String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+            //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
+            String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
 
             //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
             List<String> lockPath = shuttleStandbyFrom.getLockPath$();
@@ -500,18 +498,11 @@
                 return motionList;
             }
 
-            //璁$畻璺緞骞跺垎瑙f垚涓ゆ鍔ㄤ綔
-            List<NavigateNode> nodeList = NavigateUtils.calc(originLoc, standbyLocNoTo, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(originLoc)));
-            if (nodeList == null) {
-                News.error("{} dash {} can't find navigate path!", originLoc, standbyLocNoTo);
-                return null;
+            //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+            String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
+            if (lastPathStartLoc == null) {
+                return motionList;//鏈垎鏋愭垚鍔�
             }
-            //鑾峰彇鍒嗘璺緞
-            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
-            //鍙栧嚭鏈�鍚庝竴娈佃矾寰�
-            ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 1);
-            NavigateNode startNode = navigateNodes.get(0);
-            String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
 
             /**
              * 鍑哄簱
@@ -580,7 +571,7 @@
                         MotionCtgType.SHUTTLE_PALLET_DOWN
                 ));
 
-                // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+                // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
                 motionList.addAll(kernelService.shuttleMove(
                         MotionDto.build((dto -> {
                             dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -588,11 +579,11 @@
                         })),
                         MotionDto.build((dto -> {
                             dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setLocNo(shuttleFromLiftStandbyLoc);
+                            dto.setLocNo(standbyLocs);
                             dto.setSync(0);//寮傛鎵ц
                             dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
                         })),
-                        MotionCtgType.SHUTTLE_MOVE
+                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                 ));
 
                 // 鎻愬崌鏈鸿浇璐хЩ鍔�
@@ -812,7 +803,7 @@
                         MotionCtgType.SHUTTLE_PALLET_DOWN
                 ));
 
-                // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+                // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
                 motionList.addAll(kernelService.shuttleMove(
                         MotionDto.build((dto -> {
                             dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -820,11 +811,11 @@
                         })),
                         MotionDto.build((dto -> {
                             dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setLocNo(shuttleFromLiftStandbyLoc);
+                            dto.setLocNo(standbyLocs);
                             dto.setSync(0);//寮傛鎵ц
-                            dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀剧┛姊溅
+                            dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
                         })),
-                        MotionCtgType.SHUTTLE_MOVE
+                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                 ));
 
                 // 鎻愬崌鏈鸿浇璐хЩ鍔�

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