package com.zy.asrs.wcs.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.framework.common.SnowflakeIdWorker;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.core.entity.*;
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import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.enums.*;
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import com.zy.asrs.wcs.core.service.*;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceService;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.*;
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/**
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* Created by vincent on 2023/10/12
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*/
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@Service
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public class ShuttleDispatcher {
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private static final Integer INF = 9999999;
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private static final Integer WEIGHT = 1000000;
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@Autowired
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private TaskService taskService;
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@Autowired
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private LiftDispatcher liftDispatcher;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private AnalyzeService analyzeService;
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@Autowired
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private MotionService motionService;
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@Autowired
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private DeviceService deviceService;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private TaskCtgService taskCtgService;
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@Autowired
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private ShuttleStandbyService shuttleStandbyService;
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@Autowired
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private DictService dictService;
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public synchronized ShuttleThread searchIdleShuttle(Task task) {
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String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
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ShuttleThread resThread = null;
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Integer finalDistance = ShuttleDispatcher.INF;
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//检测目标楼层车数量是否小于允许的最大数量
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boolean checkDispatchMaxNum = checkDispatchMaxNum(Utils.getLev(locNo), task.getHostId());
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List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getHostId, task.getHostId())
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.eq(Device::getStatus, 1));
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for (Device device : list) {
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if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
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continue;
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}
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
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continue;
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}
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if (!shuttleThread.isIdle()) {
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continue;
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}
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BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
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.eq(BasShuttle::getShuttleNo, device.getDeviceNo())
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.eq(BasShuttle::getHostId, device.getHostId()));
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if (basShuttle == null) {
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continue;//小车基础数据不存在
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}
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if (!Cools.isEmpty(basShuttle.getDisableLev())) {
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List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
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//检查小车是否禁用该楼层
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if (disableLev.contains(Utils.getLev(locNo))) {
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continue;//小车禁用该楼层跳过该车
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}
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}
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//检测是否存在充电任务
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Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
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if (taskCharge != null) {
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continue;
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}
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// 有没有被其他任务调度
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int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
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String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
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if (currentLocNo.equals(locNo)) {
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resThread = shuttleThread;
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break;
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}
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String targetLocNo = null;//默认到提升机待机位
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// 同楼层直接计算到目标库位
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if (currentLev == Utils.getLev(locNo)) {
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targetLocNo = locNo;
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}else {
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if (!checkDispatchMaxNum) {
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News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", task.getTaskNo(), Utils.getLev(locNo));
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continue;
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}
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//获取距离目标位置最近的空闲可换层提升机
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LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
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if (liftThread == null) {
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continue;
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}
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Device recentTransferLift = liftThread.getDevice();
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//获取小车楼层提升机待机位
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ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, recentTransferLift.getId())
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.eq(ShuttleStandby::getDeviceLev, currentLev)
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.eq(ShuttleStandby::getStatus, 1));
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targetLocNo = shuttleStandby.getDeviceLoc();
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}
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//当前穿梭车线程到当前车子所在楼层的提升机口距离
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List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
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currentLocNo
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, targetLocNo
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, NavigationMapType.NORMAL.id
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, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
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);//搜索空闲穿梭车，使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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// 不同楼层权重
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if (currentLev != Utils.getLev(locNo)) {
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currDistance += WEIGHT;
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}
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// 挂载任务权重
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List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
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if (!Cools.isEmpty(tasks)) {
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currDistance += tasks.size() * WEIGHT;
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}
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if (currDistance < finalDistance) {
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finalDistance = currDistance;
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resThread = shuttleThread;
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}
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}
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return resThread;
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}
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//生成迁移任务
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public synchronized Task generateMoveTask(Device device, String locNo) {
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// 已有迁移任务
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if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
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return null;
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}
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//获取迁移任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return null;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return null;
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}
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Task task = new Task();
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task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
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task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
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task.setTaskSts(TaskStsType.NEW_MOVE.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(10);
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task.setOriginSite(null);
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task.setOriginLoc(null);
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task.setDestSite(null);
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task.setDestLoc(locNo); // 迁移位置
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task.setIoTime(new Date());
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task.setStartTime(new Date());
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task.setHostId(device.getHostId());
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task.setStatus(1);
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task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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// generate motion list
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List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
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if (Cools.isEmpty(motionList)) {
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News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
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return null;
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());
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task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);
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if (!taskService.save(task)) {
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News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
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return null;
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}
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return task;
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}
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//生成手动取放货任务
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public synchronized Task generateManuaTakeMoveTask(Device device, String sourceLocNo, String locNo) {
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// 已有手动任务
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if (taskService.selectManualWorking(Integer.valueOf(device.getDeviceNo())) != null) {
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return null;
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}
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//获取手动任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
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.eq(TaskCtg::getStatus, 1));
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if (taskCtg == null) {
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return null;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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return null;
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}
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Task task = new Task();
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task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
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task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
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task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
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task.setTaskCtg(taskCtg.getId());
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task.setPriority(10);
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task.setOriginSite(null);
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task.setOriginLoc(sourceLocNo);
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task.setDestSite("takeMove");
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task.setDestLoc(locNo);
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task.setIoTime(new Date());
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task.setStartTime(new Date());
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task.setStatus(1);
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task.setMemo("manual");
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task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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task.setRecordLoc("Y");//记录库存信息
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task.setHostId(device.getHostId());
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// generate motion list
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List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
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if (Cools.isEmpty(motionList)) {
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News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
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return null;
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());
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task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);
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if (!taskService.save(task)) {
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News.error("保存{}号四向穿梭车手动任务失败!!!", device.getDeviceNo());
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return null;
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}
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return task;
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}
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/**
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* 搜索避让库位，通过小车号和目标库位
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*/
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public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) {
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BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
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.eq(BasShuttle::getShuttleNo, shuttleNo)
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.eq(BasShuttle::getHostId, hostId));
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if (basShuttle == null) {
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throw new CoolException("小车基础数据不存在");
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}
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String idleLoc = basShuttle.getIdleLoc();
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if (Cools.isEmpty(idleLoc)) {
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throw new CoolException("小车避让数据不存在");
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}
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int lev = Utils.getLev(locNo);//当前楼层
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List<String> standbyLoc = JSON.parseArray(idleLoc, String.class);
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if (standbyLoc.isEmpty()) {
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throw new CoolException("避让数据异常");
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}
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//获取当前层避让位置
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List<String> currentLevStandByLoc = new ArrayList<>();
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for (String loc : standbyLoc) {
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if (Utils.getLev(loc) == lev) {
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currentLevStandByLoc.add(loc);
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}
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}
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if (currentLevStandByLoc.isEmpty()) {
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throw new CoolException("当前层无避让位置");
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}
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Integer finalDistance = ShuttleDispatcher.INF;
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String recentLoc = null;
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for (String loc : currentLevStandByLoc) {
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//当前穿梭车到避让位计算
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List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
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locNo
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, loc
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, NavigationMapType.NORMAL.id
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, Utils.getShuttlePoints(shuttleNo, lev)
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);//使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currDistance < finalDistance) {
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finalDistance = currDistance;
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recentLoc = loc;
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}
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}
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if (recentLoc == null) {
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throw new CoolException("搜索避让位置失败");
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}
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return recentLoc;
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}
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/**
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* 搜索可用库位，通过小车号和目标库位
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*/
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public String searchAvailableLocNo(Integer shuttleNo, Long hostId, String currentLocNo, List<String> locNos) {
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BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
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.eq(BasShuttle::getShuttleNo, shuttleNo)
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.eq(BasShuttle::getHostId, hostId));
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if (basShuttle == null) {
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throw new CoolException("小车基础数据不存在");
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}
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if (locNos.isEmpty()) {
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throw new CoolException("当前层无避让位置");
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}
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int lev = Utils.getLev(currentLocNo);
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Integer finalDistance = ShuttleDispatcher.INF;
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String recentLoc = null;
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for (String loc : locNos) {
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//当前穿梭车到避让位计算
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List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
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currentLocNo
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, loc
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, NavigationMapType.NORMAL.id
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, Utils.getShuttlePoints(shuttleNo, lev)
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);//使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currDistance < finalDistance) {
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finalDistance = currDistance;
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recentLoc = loc;
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}
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}
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if (recentLoc == null) {
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throw new CoolException("搜索避让位置失败");
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}
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return recentLoc;
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}
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/**
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* 检测目标楼层车数量是否小于允许的最大数量
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* true: 小于最大数量 false: 大于或等于最大数量
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*/
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public boolean checkDispatchMaxNum(Integer lev, Long hostId) {
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "dispatchShuttleMaxNum"));
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if (dict == null) {
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return false;
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}
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int levCount = 0;//目标楼层车辆数量
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List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
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.eq(Device::getHostId, hostId)
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.eq(Device::getStatus, 1));
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for (Device device : list) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.OFFLINE){
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continue;
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}
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if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
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if (shuttleProtocol.getHasCharge()) {
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continue;//充电中
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}
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levCount++;//目标楼层有车，数量增加
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}
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}
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//搜索是否存在前往目标楼层的小车移动工作档
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for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
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.in(Task::getTaskSts, TaskStsType.NEW_MOVE.sts, TaskStsType.ANALYZE_MOVE.sts, TaskStsType.EXECUTE_MOVE.sts, TaskStsType.COMPLETE_MOVE.sts))) {
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if (task.getOriginLoc() == null || task.getDestLoc() == null) {
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continue;
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}
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int sourceLev = Utils.getLev(task.getOriginLoc());//工作档源楼层
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int targetLev = Utils.getLev(task.getDestLoc());//工作档目标楼层
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if (sourceLev == targetLev) {
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continue;//工作档楼层和目标楼层相同，跳过
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}
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if (targetLev == lev) {
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levCount++;//工作档目标楼层和实际楼层相同，数量增加
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continue;
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}
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}
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//搜索是否存在前往目标楼层的小车工作档
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for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
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.in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts, TaskStsType.ANALYZE_INBOUND.sts, TaskStsType.EXECUTE_INBOUND.sts, TaskStsType.COMPLETE_INBOUND.sts
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, TaskStsType.NEW_OUTBOUND.sts, TaskStsType.ANALYZE_OUTBOUND.sts, TaskStsType.EXECUTE_OUTBOUND.sts, TaskStsType.COMPLETE_OUTBOUND.sts))) {
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List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>()
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.eq(Motion::getTaskNo, task.getTaskNo())
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.in(Motion::getMotionCtg, MotionCtgType.SHUTTLE_MOVE
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, MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
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, MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
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, MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
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, MotionCtgType.SHUTTLE_MOVE_TO_LIFT
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, MotionCtgType.SHUTTLE_MOVE_FROM_CONVEYOR
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, MotionCtgType.SHUTTLE_MOVE_TO_CONVEYOR
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, MotionCtgType.SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR
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));
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boolean isUpdateLev = false;
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for (Motion motion : motions) {
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if (motion.getOrigin() == null || motion.getTarget() == null) {
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continue;
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}
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int sourceLev = Utils.getLev(motion.getOrigin());//动作源楼层
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int targetLev = Utils.getLev(motion.getTarget());//动作目标楼层
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if (sourceLev != targetLev) {
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isUpdateLev = true;
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break;
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}
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}
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if(isUpdateLev) {
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levCount++;//工作档属于跨层任务，小车归属于目标楼层
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continue;
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}
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}
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return levCount < Integer.parseInt(dict.getValue());
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}
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//分析出库路径待机库位
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public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
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//计算路径并分解成两段动作
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List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
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if (nodeList == null) {
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News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
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return null;
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}
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
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if (data.size() <= 1) {
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return null;//两点之间只有一段路径
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}
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//取出倒数第二段路径
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ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2);
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NavigateNode startNode = navigateNodes.get(0);
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String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
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return lastPathStartLoc;
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}
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}
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