From c6ac196d7207e64b8591f84932439214561fc446 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期五, 29 八月 2025 15:56:52 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 150 +++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 135 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index 036411d..b743284 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -251,7 +251,8 @@
if (wrkMast1 != null) {
wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo());
wrkMastService.updateById(wrkMast1);
- return true;
+ sameLev.add(0, shuttleThread);
+ //return true;
}
break;
}
@@ -278,20 +279,11 @@
sameShuttles.put(-1, shuttleThread);
continue;
}
- //TODO
- List<NavigateNode> currentShuttlePath;
- if (Utils.getLev(currentLocNo) != Utils.getLev(locNo)) {
- //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
- currentShuttlePath = navigateUtils.calc(currentLocNo, sourceLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (currentShuttlePath == null) {
- continue;
- }
- } else {
- //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
- currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (currentShuttlePath == null) {
- continue;
- }
+
+ //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
}
Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
@@ -367,6 +359,134 @@
return false;
}
+ /**
+ * 璋冨害杞﹁締
+ */
+ public synchronized boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
+ ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+ int lev1 = 0;
+ boolean tongLev = false;
+ 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());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (checkChargeWrk(shuttle.getId())) {
+ continue;//瀛樺湪鍏呯數浠诲姟锛岃繃婊ゅ皬杞�
+ }
+
+ if (!shuttleThread.isIdle()) {
+ continue;//灏忚溅蹇欑涓�
+ }
+
+ BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
+ if (basShuttle != null) {
+ if (basShuttle.getStatus() == 0) {
+ continue;//灏忚溅琚鐢�
+ }
+ }
+ WrkMast wrkMast = wrkMastService.selectByShuttleNo(basShuttle.getShuttleNo());
+ if(wrkMast!=null){
+ continue;
+ }
+ diffLev.add(shuttleThread);
+ if (lev1 != 0) {
+ if (lev1 == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ tongLev = true;
+ }
+ } else {
+ lev1 = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ }
+ }
+
+ //
+ if (!diffLev.isEmpty()) {
+ Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//鑷劧鎺掑簭灏忚溅Map
+ //鑾峰彇浠诲姟
+ WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
+ if (wrkMast1 != null) {
+ int lev = 1;
+ boolean b = wrkMast1.getIoType() < 100;
+ if (b) {
+ //ruku
+ if (wrkMast1.getStaNo() == 1015) {
+ lev = 1;
+ } else {
+ lev = 5;
+ }
+ } else {
+ lev = Utils.getLev(wrkMast1.getSourceLocNo());//鐩爣妤煎眰
+ }
+
+
+ //妫�娴嬬洰鏍囨ゼ灞傝溅鏁伴噺鏄惁灏忎簬鍏佽鐨勬渶澶ф暟閲�
+// boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
+// if (!checkDispatchMaxNum) {
+// News.info("{}浠诲姟锛寋}灞傦紝宸茬粡杈惧埌褰撳墠妤煎眰璋冨害杞﹁締鏈�澶у��", wrkMast1.getWrkNo(), lev);
+// return false;
+// }
+
+ for (ShuttleThread shuttleThread : diffLev) {
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ int currentLev = Utils.getLev(currentLocNo);
+ if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
+ //杞﹁締褰撳墠浣嶇疆宸茬粡鏄洰鏍囧簱浣嶏紝璋冨害璇ヨ溅
+ //缁欏伐浣滄。缁戝畾灏忚溅鍙�
+ diffShuttles.put(-2, shuttleThread);
+ } else {
+// if (tongLev && diffLev.size() >= 2) {
+// //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
+// List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+// if (currentShuttlePath == null) {
+// continue;
+// }
+// Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+// diffShuttles.put(currentAllDistance, shuttleThread);
+// } else {
+ //ABS(鐩爣妤煎眰 - 褰撳墠妤煎眰) 寰楀埌宸窛锛屽彇鏈�灏忓樊鍊�
+ int currentValue = Math.abs(lev - currentLev);
+ if (diffShuttles.get(currentValue) != null) {
+ try {
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleProtocol.getShuttleNo(), Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ diffShuttles.put(currentAllDistance, shuttleThread);
+ diffShuttles.put(currentValue - 1, shuttleThread);
+ } catch (Exception e) {
+ diffShuttles.put(currentValue + 1, shuttleThread);
+ }
+ } else {
+ diffShuttles.put(currentValue, shuttleThread);
+ }
+ // }
+ }
+ }
+
+ //灏濊瘯璋冨害璺ㄦゼ灞傚皬杞�
+ for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) {
+ ShuttleThread shuttleThread = entry.getValue();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ Integer shuttleNo = shuttleProtocol.getShuttleNo();
+ //灏濊瘯璋冨害灏忚溅
+ boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
+ if (result) {
+ return true;//璋冨害鎴愬姛
+ }
+ }
+ }
+ }
+
+ News.info("{}鐩爣搴撲綅娌℃湁鎼滅储鍒板彲鐢ㄧ┛姊溅", locNo);
+ return false;
+ }
+
/**
* 灏忚溅杩佺Щ浠诲姟鐢熸垚
--
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