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� -- Gitblit v1.9.1