From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 07 七月 2025 16:41:51 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/utils/Utils.java |   82 +++++++++++++++++++++++++++++++++++++++--
 1 files changed, 78 insertions(+), 4 deletions(-)

diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index d8dd70e..bf3ea83 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,9 +1,17 @@
 package com.zy.asrs.utils;
 
+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.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
 import com.zy.common.utils.NavigatePositionConvert;
+import com.zy.common.utils.NavigateUtils;
 import com.zy.core.cache.SlaveConnection;
 import com.zy.core.enums.SlaveType;
 import com.zy.core.model.ShuttleSlave;
@@ -13,9 +21,6 @@
 import java.text.DecimalFormat;
 import java.util.*;
 
-/**
- * Created by vincent on 2020/8/27
- */
 public class Utils {
 
     private static final DecimalFormat fmt = new DecimalFormat("##0.00");
@@ -80,6 +85,29 @@
     }
 
     //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 int[] getShuttlePoint(Integer shuttleNo) {
+        //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+        if (shuttleThread == null) {
+            return null;
+        }
+        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+        if (shuttleProtocol == null) {
+            return null;
+        }
+
+        String currentLocNo = shuttleProtocol.getCurrentLocNo();
+        if (currentLocNo == null) {
+            return null;
+        }
+
+        if (shuttleProtocol.getCurrentLocNo() == null) {
+            return null;
+        }
+        return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
+    }
+
+    //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) {
         SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
         ArrayList<int[]> list = new ArrayList<>();
@@ -116,9 +144,10 @@
         return list;
     }
 
-    //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+    //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
     public static boolean checkLevHasShuttle(Integer lev) {
         SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.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());
@@ -131,6 +160,22 @@
             }
             String currentLocNo = shuttleProtocol.getCurrentLocNo();
             if (currentLocNo == null) {
+                continue;
+            }
+
+            //灏忚溅姝e湪鍏呯數
+            if (shuttleThread.isCharging()) {
+                continue;
+            }
+
+            //灏忚溅鏈夊厖鐢典换鍔�
+            WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+            if (chargeWorking != null) {//宸叉湁鍏呯數浠诲姟
+                continue;
+            }
+
+            //灏忚溅澶勪簬鏁呴殰鐘舵��
+            if (shuttleThread.isFault()) {
                 continue;
             }
 
@@ -182,4 +227,33 @@
 
         return null;
     }
+
+    //鑾峰彇灏忚溅寰呮満浣�
+    public static String getShuttleStandbyLocNo(String locNo) {
+        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
+                .eq("loc_type", "standby")
+                .eq("lev1", Utils.getLev(locNo)));
+        if (locMasts.isEmpty()) {
+            return null;
+        }
+
+        Integer recentDistance = Integer.MAX_VALUE;
+        String recentLocNo = null;
+        for (LocMast locMast : locMasts) {
+            //寰呮満浣嶅埌鐩爣鐐硅窛绂�
+            List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), 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�
+            if (currentAllDistance < recentDistance) {
+                recentDistance = currentAllDistance;
+                recentLocNo = locMast.getLocNo();
+            }
+        }
+
+        return recentLocNo;
+    }
 }

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