From 525047977e8e9074a21567ae9eb5b9f6ac0c07fd Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 14 十月 2023 12:49:07 +0800
Subject: [PATCH] #拣料回库
---
src/main/java/com/zy/asrs/utils/Utils.java | 82 ++++++++++++++++++++++-------------------
1 files changed, 44 insertions(+), 38 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index fbfff8e..1ef6d12 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,11 +1,17 @@
package com.zy.asrs.utils;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
@@ -354,29 +360,6 @@
return locNo;
}
- //妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰簱浣嶅彿
- 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")));
}
@@ -415,6 +398,7 @@
//鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
+ BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
ArrayList<int[]> list = new ArrayList<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
@@ -432,14 +416,25 @@
continue;
}
- if (shuttleProtocol.getCurrentLocNo() == null) {
- continue;
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ if (currentLocNo == null) {
+ //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle == null || basShuttle.getPoint() == null) {
+ continue;
+ }
+ NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
+ currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
}
- if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
continue;//妤煎眰涓嶅悓
}
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
list.add(xyPosition);
}
@@ -449,7 +444,7 @@
//鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
- MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
CommonService commonService = SpringUtils.getBean(CommonService.class);
ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
@@ -467,6 +462,8 @@
int distY = -1;
int distX = -1;
int distZ = -1;
+ //鑾峰彇閬胯搴撲綅
+ String distLocNo = null;
for (int y = 20; y <= 56; y++) {
boolean searchFlag = true;
for (int x = 10; x <= 11; x++) {
@@ -481,19 +478,28 @@
distY = y;
distX = 11;
distZ = z;
+
+ //鑾峰彇閬胯搴撲綅
+ String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
+ LocMast distLocMast = locMastService.queryByLoc(locNo);
+ if (distLocMast == null) {
+ continue;
+ }
+
+ //鍒ゆ柇璇ュ簱浣嶆槸鍚﹀瓨鍦ㄥ伐浣滄。
+ EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
+ wrapper.eq("loc_no", locNo);
+ WrkMast wrkMast = wrkMastService.selectOne(wrapper);
+ if (wrkMast != null) {
+ continue;//瀛樺湪宸ヤ綔妗ｈ烦杩囪搴撲綅
+ }
+
+ distLocNo = locNo;
break;
}
}
- if (distY != -1) {
-
- //鑾峰彇閬胯搴撲綅
- String distLocNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
- LocMast distLocMast = locMastService.queryByLoc(distLocNo);
- if (distLocMast == null) {
- return false;
- }
-
+ if (distLocNo != null) {
//璋冨害灏忚溅鍒伴伩璁╀綅缃�
return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
}
@@ -505,11 +511,11 @@
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
--
Gitblit v1.9.1