From e2cbfe96c6dea03c15bbb8ea8c7af320242a5d19 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 23 四月 2025 10:14:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 10 +++--
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 52 +++++++++++++-------------
2 files changed, 32 insertions(+), 30 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index c756228..d81f88c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -179,14 +179,14 @@
return false;
}
-// //妫�娴嬮殰纰嶇墿杞�
-// boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
-// add(shuttleProtocol.getShuttleNo());
-// }});
-// if (checkObstacle) {
-// News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
-// return false;
-// }
+ //妫�娴嬮殰纰嶇墿杞�
+ boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }});
+ if (checkObstacle) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
@@ -350,14 +350,14 @@
return false;
}
-// //妫�娴嬮殰纰嶇墿杞�
-// boolean checkObstacle = shuttleOperaUtils.checkObstacle(liftSta.getLocNo(), new ArrayList<Integer>() {{
-// add(shuttleProtocol.getShuttleNo());
-// }});
-// if (checkObstacle) {
-// News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
-// return false;
-// }
+ //妫�娴嬮殰纰嶇墿杞�
+ boolean checkObstacle = shuttleOperaUtils.checkObstacle(liftSta.getLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }});
+ if (checkObstacle) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
@@ -576,8 +576,8 @@
return false;
}
-// commands.add(0, liftCommand.get(0));
-// commands.add(liftCommand2.get(0));
+ commands.add(0, liftCommand.get(0));
+ commands.add(liftCommand2.get(0));
assignCommand.setCommands(commands);
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
@@ -1384,14 +1384,14 @@
return false;
}
-// //妫�娴嬮殰纰嶇墿杞�
-// boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
-// add(shuttleProtocol.getShuttleNo());
-// }});
-// if (checkObstacle) {
-// News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
-// return false;
-// }
+ //妫�娴嬮殰纰嶇墿杞�
+ boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }});
+ if (checkObstacle) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
//璋冨害灏忚溅鍘诲緟鏈轰綅
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 4c14010..9b8be6c 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -260,13 +260,15 @@
continue;
}
- HashMap<String, Integer> carMap = findCarMap();
-
String targetLocNo = null;
for (NavigateNode node : outerNodes) {
String dispatchLocNo = NavigatePositionConvert.nodeToLocNo(node);
- if (carMap.containsKey(dispatchLocNo)) {
- continue;
+ //鑾峰彇鍐呭湀鑺傜偣
+ List<NavigateNode> avoidInnerNodes = getInnerNodes(dispatchLocNo, innerCircle, new ArrayList<>());
+ //璁＄畻鍐呭湀鏄惁鏈夊皬杞�
+ List<Integer> avoidNodesCar = findNodesCar(avoidInnerNodes);
+ if(!avoidNodesCar.isEmpty()) {
+ continue;
}
targetLocNo = dispatchLocNo;
break;
--
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