zy-asrs-master.git

			@@ -1,13 +1,18 @@
			package com.zy.asrs.wcs.core.utils;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.asrs.framework.common.Cools;
			import com.zy.asrs.framework.common.SnowflakeIdWorker;
			import com.zy.asrs.framework.exception.CoolException;
			import com.zy.asrs.wcs.core.entity.BasShuttle;
			import com.zy.asrs.wcs.core.entity.Task;
			import com.zy.asrs.wcs.core.kernel.AnalyzeService;
			import com.zy.asrs.wcs.core.model.NavigateNode;
			import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
			import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
			import com.zy.asrs.wcs.core.service.BasShuttleService;
			import com.zy.asrs.wcs.core.service.TaskService;
			import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
			import com.zy.asrs.wcs.rcs.entity.Device;
			@@ -48,6 +53,8 @@
			private DeviceService deviceService;
			@Autowired
			private DeviceTypeService deviceTypeService;
			@Autowired
			private BasShuttleService basShuttleService;

			public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
			String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
			@@ -82,11 +89,11 @@
			continue;
			}

			// //检测是否存在充电任务
			// WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			// if (wrkCharge != null) {
			// continue;
			// }
			//检测是否存在充电任务
			Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
			if (taskCharge != null) {
			continue;
			}

			// 有没有被其他任务调度
			int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
			@@ -121,11 +128,11 @@
			currDistance += WEIGHT;
			}

			// // 挂载任务权重
			// List<Task> tasks = taskService.selectWorkingByShuttle(shuttle.getId());
			// if (!Cools.isEmpty(tasks)) {
			// currDistance += tasks.size() * WEIGHT;
			// }
			// 挂载任务权重
			List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
			if (!Cools.isEmpty(tasks)) {
			currDistance += tasks.size() * WEIGHT;
			}

			if (currDistance < finalDistance) {
			finalDistance = currDistance;
			@@ -136,38 +143,61 @@
			return resThread;
			}

			// /**
			// * 生成穿梭车迁移任务
			// */
			// public WrkCharge generateShuttleChargeWrkComplete(Integer shuttleNo, String locNo) {
			// WrkCharge wrkCharge = new WrkCharge();
			// wrkCharge.setShuttleNo(shuttleNo);
			// wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			// wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
			// wrkCharge.setWrkSts(WrkMastStsType.NEW_MOVE.sts); // 迁移任务
			// wrkCharge.setIoType(WrkIoTypeType.MOVE.sts);
			// wrkCharge.setIoPri((double) 10);
			// wrkCharge.setLocNo(locNo);
			// wrkCharge.setMemo("reset");
			// wrkCharge.setAppeTime(new Date());
			//
			// // generate motion list
			// List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(wrkCharge);
			// if (Cools.isEmpty(motionList)) {
			// News.error("保存{}号四向穿梭车迁移任务失败!!!", shuttleNo);
			// return null;
			// }
			// motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
			//
			// wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_MOVE.sts);
			//
			// if (!wrkChargeService.insert(wrkCharge)) {
			// News.error("保存{}号四向穿梭车迁移任务失败!!!", shuttleNo);
			// return null;
			// }
			//
			// return wrkCharge;
			// }
			/**
			* 搜索避让库位，通过小车号和目标库位
			*/
			public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) {
			BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
			.eq(BasShuttle::getShuttleNo, shuttleNo)
			.eq(BasShuttle::getHostId, hostId));
			if (basShuttle == null) {
			throw new CoolException("小车基础数据不存在");
			}

			String idleLoc = basShuttle.getIdleLoc();
			if (Cools.isEmpty(idleLoc)) {
			throw new CoolException("小车避让数据不存在");
			}

			int lev = Utils.getLev(locNo);//当前楼层
			JSONArray standbyLoc = JSON.parseArray(idleLoc);
			if (lev > standbyLoc.size()) {
			throw new CoolException("避让数据异常");
			}

			Object object = standbyLoc.get(lev - 1);
			List<String> locs = JSON.parseArray(object.toString(), String.class);
			if (locs.isEmpty()) {
			throw new CoolException("避让数据为空");
			}

			Integer finalDistance = ShuttleDispatcher.INF;
			String recentLoc = null;
			for (String loc : locs) {
			//当前穿梭车到避让位计算
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
			locNo
			, loc
			, NavigationMapType.NORMAL.id
			, Utils.getShuttlePoints(shuttleNo, lev)
			);//使用正常通道地图
			if (currentShuttlePath == null) {
			continue;
			}

			Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currDistance < finalDistance) {
			finalDistance = currDistance;
			recentLoc = loc;
			}
			}

			if (recentLoc == null) {
			throw new CoolException("搜索避让位置失败");
			}

			return recentLoc;
			}


			}