#移库任务

zjj

2025-02-17 54b4f53323d0833cbac86fd18932c5fa5a5447a8

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java

@@ -1,10 +1,26 @@
package com.zy.asrs.wcs.core.utils;

import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.domain.dto.BasLiftLevOffsetDto;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.List;

/**
 * Created by vincent on 2023/10/16
@@ -12,10 +28,193 @@
@Service
public class LiftDispatcher {

    public LiftThread queryLiftForTransport(String staNo) {
        WorkZoneType zoneType = WorkZoneType.query(staNo);
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, zoneType.liftNo);
        return liftThread;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;
    @Autowired
    private NavigateUtils navigateUtils;

    /**
     * 根据目标位置搜索提升机
     * transfer: 是否可换层
     */
    public LiftThread searchLift(String locNo, Long hostId, Boolean transfer) {
        LiftThread recentLiftThread = null;
        Integer finalDistance = Integer.MAX_VALUE;
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
                .eq(Device::getHostId, hostId)
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
            if (liftThread == null) {
                continue;
            }

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                continue;
            }

            if (transfer) {
                BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, device.getDeviceNo()).eq(BasLift::getHostId, hostId));
                if (basLift == null) {
                    continue;
                }
                if (basLift.getTransfer() != 1) {
                    continue;//提升机被设置成不可换层
                }
            }

            ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, device.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(locNo))
                    .eq(ShuttleStandby::getStatus, 1));
            if (standby == null) {
                continue;
            }

            String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), Utils.getLev(locNo));
            List<NavigateNode> nodeList = navigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, null);
            if (nodeList == null) {
                continue;
            }
            Integer originPathAllDistance = navigateUtils.getOriginPathAllDistance(nodeList);//总距离
            if (originPathAllDistance < finalDistance) {
                finalDistance = originPathAllDistance;
                recentLiftThread = liftThread;
            }
        }

        return recentLiftThread;
    }

    /**
     * 根据目标位置搜索空闲提升机
     * transfer: 是否可换层
     */
    public LiftThread searchIdleLift(String locNo, Long hostId, Boolean transfer) {
        LiftThread recentLiftThread = null;
        Integer finalDistance = Integer.MAX_VALUE;
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
                .eq(Device::getHostId, hostId)
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
            if (liftThread == null) {
                continue;
            }

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                continue;
            }

            if (!liftThread.isIdle()) {
                continue;
            }

            if (transfer) {
                BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, device.getDeviceNo()).eq(BasLift::getHostId, hostId));
                if (basLift == null) {
                    continue;
                }
                if (basLift.getTransfer() != 1) {
                    continue;//提升机被设置成不可换层
                }
            }

            ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, device.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(locNo))
                    .eq(ShuttleStandby::getStatus, 1));
            if (standby == null) {
                continue;
            }

            String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), Utils.getLev(locNo));
            List<NavigateNode> nodeList = navigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, null);
            if (nodeList == null) {
                continue;
            }
            Integer originPathAllDistance = navigateUtils.getOriginPathAllDistance(nodeList);//总距离
            if (originPathAllDistance < finalDistance) {
                finalDistance = originPathAllDistance;
                recentLiftThread = liftThread;
            }
        }

        return recentLiftThread;
    }

    /**
     * 获取提升机位置
     */
    public String getLiftLocNo(LiftThread liftThread, Integer lev) {
        Device device = liftThread.getDevice();
        ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, device.getId())
                .eq(ShuttleStandby::getDeviceLev, lev)
                .eq(ShuttleStandby::getStatus, 1));
        if (standby == null) {
            return null;
        }

        String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceLoc()), Utils.getBay(standby.getDeviceLoc()), lev);
        return liftLocNo;
    }

    /**
     * 获取提升机待机位位置
     */
    public String getLiftStandByLocNo(LiftThread liftThread, Integer lev) {
        Device device = liftThread.getDevice();
        ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, device.getId())
                .eq(ShuttleStandby::getDeviceLev, lev)
                .eq(ShuttleStandby::getStatus, 1));
        if (standby == null) {
            return null;
        }

        String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), lev);
        return liftLocNo;
    }

    /**
     * 获取换层需要锁定的路径
     */
    public List<String> getLockPathByLocNo(LiftThread liftThread, Integer lev) {
        Device device = liftThread.getDevice();
        ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, device.getId())
                .eq(ShuttleStandby::getDeviceLev, lev)
                .eq(ShuttleStandby::getStatus, 1));
        if (standby == null) {
            return null;
        }

        return standby.getLockPath$();
    }

    public Integer getLiftLevOffset(Integer deviceId,Integer lev) {
        BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getDeviceId, deviceId));
        if (basLift != null) {
            if(Cools.isEmpty(basLift.getLevOffset())) {
                return lev;
            }
            List<BasLiftLevOffsetDto> levOffsetDtos = JSON.parseArray(basLift.getLevOffset(), BasLiftLevOffsetDto.class);
            for (BasLiftLevOffsetDto offsetDto : levOffsetDtos) {
                if(lev == offsetDto.getLogicLev()){
                    return offsetDto.getRealLev();
                }
            }
        }
        return lev;
    }

}