package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.planner.PlannerOrtoolsSolverService;
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import com.zy.asrs.service.*;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.WrkStsType;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.CrnThread;
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import com.zy.core.thread.StationThread;
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import com.zy.core.utils.StationOperateProcessUtils;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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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.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.TimeUnit;
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@Service
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public class PlannerServiceImpl implements PlannerService {
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private PlannerOrtoolsSolverService plannerOrtoolsSolverService;
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@Autowired
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private StationOperateProcessUtils stationOperateProcessUtils;
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@Override
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public JSONObject calculateAndSaveSchedule() {
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ArrayList<HashMap<String, Object>> crnDataList = new ArrayList<>();
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().eq("status", 1));
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Map<Integer, StationObjModel> stationIndex = new HashMap<>();
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Map<Integer, String> stationCrnCodeIndex = new HashMap<>();
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Double bayWidth = getDoubleConfig("plannerBayWidthM", 1.0);
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Double levHeight = getDoubleConfig("plannerLevHeightM", 1.0);
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// First pass: Build station index
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for (BasCrnp basCrnp : basCrnps) {
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List<StationObjModel> inStations = basCrnp.getInStationList$();
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if (inStations != null) {
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for (StationObjModel stationObjModel : inStations) {
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Integer sid = stationObjModel.getStationId();
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if (sid != null) {
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stationIndex.put(sid, stationObjModel);
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stationCrnCodeIndex.put(sid, "CRN-" + basCrnp.getCrnNo());
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}
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}
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}
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List<StationObjModel> outStations = basCrnp.getOutStationList$();
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if (outStations != null) {
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for (StationObjModel stationObjModel : outStations) {
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Integer sid = stationObjModel.getStationId();
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if (sid != null) {
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stationIndex.put(sid, stationObjModel);
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}
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}
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}
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}
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// Second pass: Build crane data
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for (BasCrnp basCrnp : basCrnps) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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if (crnThread == null) {
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continue;
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}
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HashMap<String, Object> crnData = new HashMap<>();
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crnData.put("code", "CRN-" + basCrnp.getCrnNo());
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crnData.put("name", basCrnp.getCrnNo());
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// 规划时使用额定速度，而非当前实时速度
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Double vx = getDoubleConfig("plannerVxDefault", 2.6);
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Double vy = getDoubleConfig("plannerVyDefault", 0.67);
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crnData.put("vx", vx);
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crnData.put("vy", vy);
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try {
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if (crnThread.getStatus() != null) {
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Integer bay = crnThread.getStatus().getBay();
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Integer lev = crnThread.getStatus().getLevel();
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if (bay != null && lev != null) {
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HashMap<String, Object> initPos = new HashMap<>();
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initPos.put("x", bay * bayWidth);
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initPos.put("y", lev * levHeight);
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crnData.put("initPos", initPos);
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}
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}
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} catch (Exception ignore) {}
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Integer pickSec = getIntConfig("plannerPickSec", 8);
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Integer dropSec = getIntConfig("plannerDropSec", 6);
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crnData.put("pickSec", pickSec);
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crnData.put("dropSec", dropSec);
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crnData.put("moveMode", "max");
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int readySec = 0;
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try {
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if (crnThread.getStatus() != null) {
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CrnProtocol p = crnThread.getStatus();
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Integer tNo = p.getTaskNo();
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if (tNo != null && tNo > 0) {
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WrkMast task = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", tNo));
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if (task != null) {
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// Calculate current X, Y
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double curX = (p.getBay() == null ? 0 : p.getBay()) * bayWidth;
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double curY = (p.getLevel() == null ? 0 : p.getLevel()) * levHeight;
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double targetX = curX;
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double targetY = curY;
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boolean hasGoods = (p.getLoaded() != null && p.getLoaded() == 1);
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if (hasGoods) {
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// Moving to destination
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if (task.getWrkSts() != null && task.getWrkSts() < 50) { // IN task
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// For IN task with goods, destination is Location
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if (task.getLocNo() != null) {
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LocMast loc = locMastService.queryByLoc(task.getLocNo());
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if (loc != null) {
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targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
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targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
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}
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}
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} else { // OUT or LOC_MOVE
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if (task.getStaNo() != null) { // OUT task
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// For OUT task with goods, destination is Station
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StationObjModel s = stationIndex.get(task.getStaNo());
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if (s != null) {
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targetX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
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targetY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
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}
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} else if (task.getLocNo() != null) { // LOC_MOVE
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LocMast loc = locMastService.queryByLoc(task.getLocNo());
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if (loc != null) {
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targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
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targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
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}
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}
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}
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} else {
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// Moving to source
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if (task.getWrkSts() != null && task.getWrkSts() < 50) { // IN task
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StationObjModel s = stationIndex.get(task.getStaNo());
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if (s != null) {
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targetX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
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targetY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
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}
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} else { // OUT or LOC_MOVE
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if (task.getSourceLocNo() != null) {
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LocMast loc = locMastService.queryByLoc(task.getSourceLocNo());
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if (loc != null) {
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targetX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
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targetY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
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}
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}
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}
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}
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double dx = Math.abs(targetX - curX);
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double dy = Math.abs(targetY - curY);
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double tx = vx <= 0 ? 0 : dx / vx;
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double ty = vy <= 0 ? 0 : dy / vy;
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double moveTime = Math.max(tx, ty);
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double total = moveTime;
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if (hasGoods) {
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total += dropSec;
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} else {
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total += pickSec;
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// Plus time to move to destination + drop
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double srcX = targetX;
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double srcY = targetY;
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double dstX = srcX;
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double dstY = srcY;
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if (task.getWrkSts() != null && task.getWrkSts() < 50) { // Inbound
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if (task.getLocNo() != null) {
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LocMast loc = locMastService.queryByLoc(task.getLocNo());
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if (loc != null) {
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dstX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
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dstY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
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}
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}
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} else { // Outbound or LocMove
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if (task.getStaNo() != null) {
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StationObjModel s = stationIndex.get(task.getStaNo());
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if (s != null) {
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dstX = (s.getDeviceBay() == null ? 0 : s.getDeviceBay()) * bayWidth;
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dstY = (s.getDeviceLev() == null ? 0 : s.getDeviceLev()) * levHeight;
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}
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} else if (task.getLocNo() != null) {
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LocMast loc = locMastService.queryByLoc(task.getLocNo());
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if (loc != null) {
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dstX = (loc.getBay1() == null ? 0 : loc.getBay1()) * bayWidth;
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dstY = (loc.getLev1() == null ? 0 : loc.getLev1()) * levHeight;
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}
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}
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}
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double d2x = Math.abs(dstX - srcX);
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double d2y = Math.abs(dstY - srcY);
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double t2x = vx <= 0 ? 0 : d2x / vx;
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double t2y = vy <= 0 ? 0 : d2y / vy;
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total += Math.max(t2x, t2y);
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total += dropSec;
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}
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readySec = (int) Math.ceil(total);
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}
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}
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}
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} catch (Exception ignore) {}
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crnData.put("readySec", readySec);
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crnDataList.add(crnData);
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}
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ArrayList<HashMap<String, Object>> taskDataList = new ArrayList<>();
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Map<String, Integer> outGroupSeqCounter = new HashMap<>();
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List<WrkMast> outTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
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for (WrkMast wrkMast : outTasks) {
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HashMap<String, Object> t = new HashMap<>();
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t.put("taskId", wrkMast.getWrkNo());
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t.put("taskType", "OUT");
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t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
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if (wrkMast.getAppeTime() != null) {
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t.put("createTime", wrkMast.getAppeTime().getTime());
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}
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String src = wrkMast.getSourceLocNo();
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LocMast srcLoc = src == null ? null : locMastService.queryByLoc(src);
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int srcX = srcLoc == null ? 0 : (srcLoc.getBay1() == null ? 0 : srcLoc.getBay1());
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int srcY = srcLoc == null ? 0 : (srcLoc.getLev1() == null ? 0 : srcLoc.getLev1());
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HashMap<String, Object> fromPos = new HashMap<>();
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fromPos.put("x", srcX * bayWidth);
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fromPos.put("y", srcY * levHeight);
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t.put("fromPos", fromPos);
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Integer targetStationId = wrkMast.getStaNo();
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double toX = 0;
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double toY = 0;
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try {
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if (targetStationId != null) {
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StationObjModel s = stationIndex.get(targetStationId);
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if (s != null) {
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toX = s.getDeviceBay() == null ? 0 : s.getDeviceBay();
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toY = s.getDeviceLev() == null ? 0 : s.getDeviceLev();
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}
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}
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} catch (Exception ignore) {}
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HashMap<String, Object> toPos = new HashMap<>();
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toPos.put("x", toX * bayWidth);
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toPos.put("y", toY * levHeight);
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t.put("toPos", toPos);
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ArrayList<String> eligible = new ArrayList<>();
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Integer crnNo = wrkMast.getCrnNo();
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if (crnNo != null && crnNo > 0) {
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eligible.add("CRN-" + crnNo);
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} else {
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try {
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String locNo = src;
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if (locNo != null) {
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Integer row = com.zy.asrs.utils.Utils.getRow(locNo);
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for (BasCrnp basCrnp : basCrnps) {
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List<List<Integer>> controlRows = basCrnp.getControlRows$();
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for (List<Integer> rows : controlRows) {
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if (rows.contains(row)) {
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eligible.add("CRN-" + basCrnp.getCrnNo());
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break;
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}
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}
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}
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}
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} catch (Exception ignore) {}
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}
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t.put("eligibleCranes", eligible);
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t.put("conveyorPath", new ArrayList<>());
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String group = wrkMast.getWmsWrkNo();
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if (group == null || group.trim().isEmpty()) {
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group = "WCS";
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}
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int seq = outGroupSeqCounter.getOrDefault(group, 0) + 1;
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outGroupSeqCounter.put(group, seq);
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t.put("outGroup", group);
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t.put("outSeq", seq);
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taskDataList.add(t);
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}
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List<WrkMast> moveTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
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for (WrkMast wrkMast : moveTasks) {
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HashMap<String, Object> t = new HashMap<>();
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t.put("taskId", wrkMast.getWrkNo());
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t.put("taskType", "MOVE");
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t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
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if (wrkMast.getAppeTime() != null) {
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t.put("createTime", wrkMast.getAppeTime().getTime());
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}
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String src = wrkMast.getSourceLocNo();
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LocMast srcLoc = src == null ? null : locMastService.queryByLoc(src);
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int srcX = srcLoc == null ? 0 : (srcLoc.getBay1() == null ? 0 : srcLoc.getBay1());
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int srcY = srcLoc == null ? 0 : (srcLoc.getLev1() == null ? 0 : srcLoc.getLev1());
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HashMap<String, Object> fromPos = new HashMap<>();
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fromPos.put("x", srcX * bayWidth);
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fromPos.put("y", srcY * levHeight);
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t.put("fromPos", fromPos);
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String dst = wrkMast.getLocNo();
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LocMast dstLoc = dst == null ? null : locMastService.queryByLoc(dst);
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int toX = dstLoc == null ? 0 : (dstLoc.getBay1() == null ? 0 : dstLoc.getBay1());
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int toY = dstLoc == null ? 0 : (dstLoc.getLev1() == null ? 0 : dstLoc.getLev1());
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HashMap<String, Object> toPos = new HashMap<>();
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toPos.put("x", toX * bayWidth);
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toPos.put("y", toY * levHeight);
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t.put("toPos", toPos);
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ArrayList<String> eligible = new ArrayList<>();
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Integer crnNo = wrkMast.getCrnNo();
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if (crnNo != null && crnNo > 0) {
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eligible.add("CRN-" + crnNo);
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} else {
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try {
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String locNo = src;
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if (locNo != null) {
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Integer row = com.zy.asrs.utils.Utils.getRow(locNo);
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for (BasCrnp basCrnp : basCrnps) {
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List<List<Integer>> controlRows = basCrnp.getControlRows$();
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for (List<Integer> rows : controlRows) {
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if (rows.contains(row)) {
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eligible.add("CRN-" + basCrnp.getCrnNo());
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break;
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}
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}
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}
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}
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} catch (Exception ignore) {}
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}
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t.put("eligibleCranes", eligible);
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t.put("conveyorPath", new ArrayList<>());
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taskDataList.add(t);
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}
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List<WrkMast> inTasks = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts));
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for (WrkMast wrkMast : inTasks) {
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HashMap<String, Object> t = new HashMap<>();
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t.put("taskId", wrkMast.getWrkNo());
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t.put("taskType", "IN");
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t.put("priority", wrkMast.getIoPri() == null ? 5 : wrkMast.getIoPri().intValue());
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if (wrkMast.getAppeTime() != null) {
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t.put("createTime", wrkMast.getAppeTime().getTime());
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}
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Integer targetStationId = wrkMast.getStaNo();
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HashMap<String, Object> fromPos = new HashMap<>();
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String matchedCrnCode = null;
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boolean stationReady = false;
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if (targetStationId != null) {
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StationObjModel stationObjModel = stationIndex.get(targetStationId);
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if (stationObjModel != null) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread != null) {
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Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
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StationProtocol sp = statusMap == null ? null : statusMap.get(targetStationId);
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if (sp != null && sp.isAutoing() && sp.isLoading() && sp.getTaskNo().equals(wrkMast.getWrkNo())) {
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stationReady = true;
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matchedCrnCode = stationCrnCodeIndex.get(targetStationId);
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fromPos.put("x", stationObjModel.getDeviceBay() * bayWidth);
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fromPos.put("y", stationObjModel.getDeviceLev() * levHeight);
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}
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}
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}
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}
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if (!stationReady) {
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continue;
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}
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t.put("fromPos", fromPos);
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HashMap<String, Object> toPos = new HashMap<>();
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String dst = wrkMast.getLocNo();
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LocMast dstLoc = dst == null ? null : locMastService.queryByLoc(dst);
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int toX = dstLoc == null ? 0 : (dstLoc.getBay1() == null ? 0 : dstLoc.getBay1());
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int toY = dstLoc == null ? 0 : (dstLoc.getLev1() == null ? 0 : dstLoc.getLev1());
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toPos.put("x", toX * bayWidth);
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toPos.put("y", toY * levHeight);
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t.put("toPos", toPos);
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ArrayList<String> eligible = new ArrayList<>();
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if (matchedCrnCode != null) {
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eligible.add(matchedCrnCode);
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}
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t.put("eligibleCranes", eligible);
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t.put("conveyorPath", new ArrayList<>());
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taskDataList.add(t);
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}
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//获取输送线任务数量
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int currentStationTaskCount = stationOperateProcessUtils.getCurrentStationTaskCount();
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HashMap<String, Object> config = new HashMap<>();
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config.put("outMinGapSec", getIntConfig("plannerOutMinGapSec", 0));
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config.put("wMakespan", getIntConfig("plannerWeightMakespan", 1000));
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config.put("wPriorityEarlyFinish", getIntConfig("plannerWeightPriorityEarlyFinish", 5));
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config.put("wWaitTime", getIntConfig("plannerWeightWaitTime", 1));
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config.put("wOutTardiness", getIntConfig("plannerOutTardiness", 0));
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config.put("enableOutDue", getBoolConfig("plannerEnableOutDue", false));
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config.put("maxSolveSeconds", getIntConfig("plannerMaxSolveSeconds", 3));
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config.put("numSearchWorkers", getIntConfig("plannerNumSearchWorkers", 8));
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config.put("conveyorStationTaskLimit", getIntConfig("conveyorStationTaskLimit", 30));
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config.put("conveyorStationRunningTasks", currentStationTaskCount);
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HashMap<String, Object> request = new HashMap<>();
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request.put("cranes", crnDataList);
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request.put("tasks", taskDataList);
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request.put("config", config);
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JSONObject result;
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boolean useInternal = getBoolConfig("plannerUseInternalSolver", true);
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if (useInternal) {
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try {
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result = plannerOrtoolsSolverService.solve(JSONObject.parseObject(JSON.toJSONString(request)));
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} catch (Throwable e) {
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News.error("内部求解器执行失败:{}", e.getMessage());
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result = null;
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}
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} else {
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Config uriCfg = configService.selectOne(new EntityWrapper<Config>().eq("code", "plannerSolverUri"));
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Config pathCfg = configService.selectOne(new EntityWrapper<Config>().eq("code", "plannerSolverPath"));
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if (uriCfg == null || pathCfg == null || uriCfg.getValue() == null || pathCfg.getValue() == null) {
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// 如果是服务调用，这里无法直接返回R.error，返回null或者empty json
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return null;
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}
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String solverUri = uriCfg.getValue();
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String solverPath = pathCfg.getValue();
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String response;
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try {
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HttpHandler http = new HttpHandler.Builder()
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.setUri(solverUri)
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.setPath(solverPath)
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.setTimeout(30, TimeUnit.SECONDS)
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.setJson(JSON.toJSONString(request))
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.build();
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response = http.doPost();
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} catch (Exception e) {
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News.error("求解器调用失败:{}", e.getMessage());
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return null;
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}
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try {
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result = JSON.parseObject(response);
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} catch (Exception ignore) {
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return null;
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}
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}
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try {
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try {
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int nowSec = (int) (System.currentTimeMillis() / 1000);
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if (result != null && result.containsKey("schedule")) {
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List<Object> schedule = result.getJSONArray("schedule");
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if (schedule != null) {
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Map<String, List<String>> groupByCrane = new HashMap<>();
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for (Object obj : schedule) {
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JSONObject item = (JSONObject) JSONObject.toJSON(obj);
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String craneCode = item.getString("craneCode");
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Integer taskId = item.getInteger("taskId");
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String taskType = item.getString("taskType");
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Integer startSec = item.getInteger("startSec");
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Integer endSec = item.getInteger("endSec");
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Integer outEtaSec = item.getInteger("outEtaSec");
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if (craneCode == null || taskId == null || startSec == null) {
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continue;
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}
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JSONObject store = new JSONObject();
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store.put("taskId", taskId);
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store.put("taskType", taskType);
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store.put("startEpochSec", nowSec + startSec);
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if (endSec != null) {
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store.put("endEpochSec", nowSec + endSec);
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}
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if (outEtaSec != null) {
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store.put("outEtaEpochSec", nowSec + outEtaSec);
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}
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groupByCrane.computeIfAbsent(craneCode, k -> new ArrayList<>()).add(store.toJSONString());
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}
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for (Map.Entry<String, List<String>> e : groupByCrane.entrySet()) {
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String key = RedisKeyType.PLANNER_SCHEDULE.key + e.getKey();
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redisUtil.del(key);
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for (String s : e.getValue()) {
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redisUtil.lSet(key, s);
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}
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}
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}
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}
|
} catch (Exception ignore) {}
|
return result;
|
} catch (Exception ignore) {
|
return null;
|
}
|
}
|
|
private Double getDoubleConfig(String code, Double def) {
|
try {
|
Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
|
if (c != null && c.getValue() != null && c.getValue().trim().length() > 0) {
|
return Double.parseDouble(c.getValue().trim());
|
}
|
} catch (Exception ignore) {}
|
return def;
|
}
|
|
private Integer getIntConfig(String code, Integer def) {
|
try {
|
Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
|
if (c != null && c.getValue() != null && c.getValue().trim().length() > 0) {
|
String v = c.getValue().trim();
|
if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
|
return Integer.parseInt(v);
|
}
|
} catch (Exception ignore) {}
|
return def;
|
}
|
|
private Boolean getBoolConfig(String code, Boolean def) {
|
try {
|
Config c = configService.selectOne(new EntityWrapper<Config>().eq("code", code));
|
if (c != null && c.getValue() != null) {
|
String v = c.getValue().trim().toUpperCase();
|
if ("Y".equals(v) || "TRUE".equals(v)) return true;
|
if ("N".equals(v) || "FALSE".equals(v)) return false;
|
}
|
} catch (Exception ignore) {}
|
return def;
|
}
|
}
|
