From f57741a11f0cce1f7ac0f2c8ab0627c046cb855b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 14 四月 2023 11:11:53 +0800
Subject: [PATCH] 穿梭车到达提升机口前，优先调度提升机优化
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 95 ++++++++++++++++++++++++++++++++++++-----------
1 files changed, 73 insertions(+), 22 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 92fe3d4..3b92522 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -728,13 +728,13 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
-// StaProtocol staProtocol105 = devpThread.getStation().get(105);
-// staProtocol105.setWorkNo((short) 752);
-// staProtocol105.setStaNo((short) 100);
-//
-// StaProtocol staProtocol106 = devpThread.getStation().get(106);
-// staProtocol106.setWorkNo((short) 753);
-// staProtocol106.setStaNo((short) 100);
+ StaProtocol staProtocol105 = devpThread.getStation().get(105);
+ staProtocol105.setWorkNo((short) 752);
+ staProtocol105.setStaNo((short) 100);
+
+ StaProtocol staProtocol106 = devpThread.getStation().get(106);
+ staProtocol106.setWorkNo((short) 753);
+ staProtocol106.setStaNo((short) 100);
if (staProtocol == null) {
continue;
@@ -797,6 +797,20 @@
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
+ if (wrkMast.getWrkSts() == 8) {
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);
+ moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
+ moveCommand.setStartToDistDistance(1300);
+ moveCommand.setMiddleToDistDistance(0);
+ moveCommand.setRunDirection(commands.get(0).getRunDirection());
+ moveCommand.setRunSpeed((short) 1000);
+ moveCommand.setCommandEnd((short) 1);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+ }
assignCommand.setCommands(commands);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getLocNo());
@@ -851,14 +865,22 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -890,14 +912,22 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -930,14 +960,22 @@
command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -1056,6 +1094,19 @@
}
} else if (wrkMast.getWrkSts() == 25) {
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
+ moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
+ moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
+ moveCommand.setStartToDistDistance(1300);
+ moveCommand.setMiddleToDistDistance(0);
+ moveCommand.setRunDirection(commands.get(0).getRunDirection());
+ moveCommand.setRunSpeed((short) 1000);
+ moveCommand.setCommandEnd((short) 1);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
--
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