From 16f5e8d67c29b726bf07e790da3214d72eb0e053 Mon Sep 17 00:00:00 2001
From: gtsxc <3272660260@qq.com>
Date: 星期五, 28 二月 2025 08:26:23 +0800
Subject: [PATCH] #搜索空闲小车地图改为DFX,增加车辆有没有被任务绑定判断

---
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java |   80 ++++-----------------------------------
 1 files changed, 9 insertions(+), 71 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 353b2ae..72c684e 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
@@ -1650,11 +1650,6 @@
             return motionList;
         }
 
-        BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
-        if (basConveyorStaOrigin == null) {
-            return motionList;
-        }
-
         //妫�娴嬬┛姊溅鏄惁鏈変换鍔$粦瀹�
         boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
         if (shuttleResult) {
@@ -1697,25 +1692,14 @@
 
         //鑾峰彇鍑哄簱浠诲姟绫诲瀷
         TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
-                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
+                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
                 .eq(TaskCtg::getStatus, 1));
         if (taskCtg == null) {
             return motionList;
         }
-        //鑾峰彇杈撻�佺嚎璺緞
-        BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
-                .eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
-                .eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
-                .eq(BasConveyorPath::getTypeNo, taskCtg.getId()));
-        if (basConveyorPath == null) {
-            return motionList;
-        }
 
-        //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�
-        }
+
+
 
         /**
          * 鍑哄簱
@@ -1748,49 +1732,18 @@
                     MotionCtgType.SHUTTLE_PALLET_LIFT
             ));
 
-            if (!originLoc.equals(lastPathStartLoc)) {
-                // 绌挎杞﹁浇璐у嚭搴撹嚦鏈�鍚庝竴娈佃矾寰勭瓑寰�
-                motionList.addAll(kernelService.shuttleMove(
-                        MotionDto.build((dto -> {
-                            dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setLocNo(originLoc);
-                        })),
-                        MotionDto.build((dto -> {
-                            dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setShuttleDevice(shuttleDevice);
-                            dto.setLocNo(lastPathStartLoc);
-                        })),
-                        MotionCtgType.SHUTTLE_TRANSPORT
-                ));
-            }
-
-//            // 绌挎杞﹁浇璐ц嚦鎻愬崌鏈哄緟鏈轰綅
-//            motionList.addAll(kernelService.shuttleMove(
-//                    MotionDto.build((dto -> {
-//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
-//                        dto.setLocNo(lastPathStartLoc);
-//                    })),
-//                    MotionDto.build((dto -> {
-//                        dto.setShuttleNo(shuttleDevice.getId().intValue());
-//                        dto.setShuttleDevice(shuttleDevice);
-//                        dto.setLiftNo(transferLiftDevice.getId().intValue());
-//                        dto.setLocNo(standbyLocNoTo);
-//                        dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
-//                    })),
-//                    MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
-//            ));
-
             // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
             motionList.addAll(kernelService.shuttleMove(
                     MotionDto.build((dto -> {
                         dto.setShuttleNo(shuttleDevice.getId().intValue());
-                        dto.setLocNo(lastPathStartLoc);
+                        dto.setLocNo(originLoc);
                     })),
                     MotionDto.build((dto -> {
                         dto.setShuttleNo(shuttleDevice.getId().intValue());
+                        dto.setShuttleDevice(shuttleDevice);
                         dto.setLocNo(locNo);
                     })),
-                    MotionCtgType.SHUTTLE_MOVE
+                    MotionCtgType.SHUTTLE_TRANSPORT
             ));
 
             // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -1959,33 +1912,18 @@
                     MotionCtgType.SHUTTLE_PALLET_LIFT
             ));
 
-            if (!originLoc.equals(lastPathStartLoc)) {
-                // 绌挎杞﹁浇璐у嚭搴撹嚦鏈�鍚庝竴娈佃矾寰勭瓑寰�
-                motionList.addAll(kernelService.shuttleMove(
-                        MotionDto.build((dto -> {
-                            dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setLocNo(originLoc);
-                        })),
-                        MotionDto.build((dto -> {
-                            dto.setShuttleNo(shuttleDevice.getId().intValue());
-                            dto.setShuttleDevice(shuttleDevice);
-                            dto.setLocNo(lastPathStartLoc);
-                        })),
-                        MotionCtgType.SHUTTLE_TRANSPORT
-                ));
-            }
-
             // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
             motionList.addAll(kernelService.shuttleMove(
                     MotionDto.build((dto -> {
                         dto.setShuttleNo(shuttleDevice.getId().intValue());
-                        dto.setLocNo(lastPathStartLoc);
+                        dto.setLocNo(originLoc);
                     })),
                     MotionDto.build((dto -> {
                         dto.setShuttleNo(shuttleDevice.getId().intValue());
+                        dto.setShuttleDevice(shuttleDevice);
                         dto.setLocNo(locNo);
                     })),
-                    MotionCtgType.SHUTTLE_MOVE
+                    MotionCtgType.SHUTTLE_TRANSPORT
             ));
 
             // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�

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