package com.zy.asrs.wcs.core.utils;
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import com.alibaba.fastjson.JSON;
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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.wcs.core.domain.dto.BasLiftLevOffsetDto;
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import com.zy.asrs.wcs.core.entity.BasLift;
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import com.zy.asrs.wcs.core.entity.ShuttleStandby;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
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import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
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import com.zy.asrs.wcs.core.service.BasLiftService;
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import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
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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.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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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 org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.List;
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/**
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* Created by vincent on 2023/10/16
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*/
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@Service
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public class LiftDispatcher {
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@Autowired
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private DeviceService deviceService;
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@Autowired
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private BasLiftService basLiftService;
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@Autowired
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private ShuttleStandbyService shuttleStandbyService;
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@Autowired
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private NavigateUtils navigateUtils;
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/**
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* 根据目标位置搜索提升机
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* transfer: 是否可换层
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*/
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public LiftThread searchLift(String locNo, Long hostId, Boolean transfer) {
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LiftThread recentLiftThread = null;
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Integer finalDistance = Integer.MAX_VALUE;
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List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.LIFT.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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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
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if (liftThread == null) {
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continue;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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continue;
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}
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if (transfer) {
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, device.getDeviceNo()).eq(BasLift::getHostId, hostId));
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if (basLift == null) {
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continue;
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}
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if (basLift.getTransfer() != 1) {
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continue;//提升机被设置成不可换层
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}
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}
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ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, device.getId())
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.eq(ShuttleStandby::getDeviceLev, Utils.getLev(locNo))
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.eq(ShuttleStandby::getStatus, 1));
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if (standby == null) {
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continue;
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}
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String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), Utils.getLev(locNo));
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List<NavigateNode> nodeList = navigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, null);
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if (nodeList == null) {
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continue;
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}
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Integer originPathAllDistance = navigateUtils.getOriginPathAllDistance(nodeList);//总距离
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if (originPathAllDistance < finalDistance) {
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finalDistance = originPathAllDistance;
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recentLiftThread = liftThread;
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}
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}
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return recentLiftThread;
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}
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/**
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* 根据目标位置搜索空闲提升机
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* transfer: 是否可换层
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*/
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public LiftThread searchIdleLift(String locNo, Long hostId, Boolean transfer) {
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LiftThread recentLiftThread = null;
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Integer finalDistance = Integer.MAX_VALUE;
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List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.LIFT.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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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
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if (liftThread == null) {
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continue;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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continue;
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}
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if (!liftThread.isIdle()) {
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continue;
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}
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if (transfer) {
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, device.getDeviceNo()).eq(BasLift::getHostId, hostId));
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if (basLift == null) {
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continue;
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}
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if (basLift.getTransfer() != 1) {
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continue;//提升机被设置成不可换层
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}
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}
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ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, device.getId())
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.eq(ShuttleStandby::getDeviceLev, Utils.getLev(locNo))
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.eq(ShuttleStandby::getStatus, 1));
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if (standby == null) {
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continue;
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}
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String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), Utils.getLev(locNo));
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List<NavigateNode> nodeList = navigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, null);
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if (nodeList == null) {
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continue;
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}
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Integer originPathAllDistance = navigateUtils.getOriginPathAllDistance(nodeList);//总距离
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if (originPathAllDistance < finalDistance) {
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finalDistance = originPathAllDistance;
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recentLiftThread = liftThread;
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}
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}
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return recentLiftThread;
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}
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/**
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* 获取提升机位置
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*/
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public String getLiftLocNo(LiftThread liftThread, Integer lev) {
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Device device = liftThread.getDevice();
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ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, device.getId())
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.eq(ShuttleStandby::getDeviceLev, lev)
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.eq(ShuttleStandby::getStatus, 1));
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if (standby == null) {
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return null;
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}
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String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceLoc()), Utils.getBay(standby.getDeviceLoc()), lev);
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return liftLocNo;
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}
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/**
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* 获取提升机待机位位置
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*/
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public String getLiftStandByLocNo(LiftThread liftThread, Integer lev) {
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Device device = liftThread.getDevice();
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ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, device.getId())
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.eq(ShuttleStandby::getDeviceLev, lev)
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.eq(ShuttleStandby::getStatus, 1));
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if (standby == null) {
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return null;
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}
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String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), lev);
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return liftLocNo;
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}
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/**
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* 获取换层需要锁定的路径
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*/
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public List<String> getLockPathByLocNo(LiftThread liftThread, Integer lev) {
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Device device = liftThread.getDevice();
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ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
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.eq(ShuttleStandby::getDeviceId, device.getId())
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.eq(ShuttleStandby::getDeviceLev, lev)
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.eq(ShuttleStandby::getStatus, 1));
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if (standby == null) {
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return null;
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}
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return standby.getLockPath$();
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}
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public Integer getLiftLevOffset(Integer deviceId,Integer lev) {
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getDeviceId, deviceId));
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if (basLift != null) {
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if(Cools.isEmpty(basLift.getLevOffset())) {
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return lev;
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}
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List<BasLiftLevOffsetDto> levOffsetDtos = JSON.parseArray(basLift.getLevOffset(), BasLiftLevOffsetDto.class);
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for (BasLiftLevOffsetDto offsetDto : levOffsetDtos) {
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if(lev == offsetDto.getLogicLev()){
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return offsetDto.getRealLev();
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}
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}
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}
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return lev;
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}
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}
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