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.DeviceCtgType;
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import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
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import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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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.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.ShuttleThread;
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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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public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
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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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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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//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 = LiftCodeType.getStandbyLocNo(liftNo, currentLev);//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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}
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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()));
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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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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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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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//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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Device recentTransferLift = Utils.getRecentTransferLift(locNo, Integer.parseInt(device.getDeviceNo()));
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if (recentTransferLift == null) {
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continue;
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}
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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()));
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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, "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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//获取避让位置
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String standByLocNo = this.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());
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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(standByLocNo); // 避让位置
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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()));
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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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/**
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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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JSONArray standbyLoc = JSON.parseArray(idleLoc);
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if (lev > standbyLoc.size()) {
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throw new CoolException("避让数据异常");
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}
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Object object = standbyLoc.get(lev - 1);
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List<String> locs = JSON.parseArray(object.toString(), String.class);
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if (locs.isEmpty()) {
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throw new CoolException("避让数据为空");
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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 : locs) {
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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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