#移库任务

zjj

2025-02-17 54b4f53323d0833cbac86fd18932c5fa5a5447a8

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

@@ -56,6 +56,8 @@
    private ShuttleStandbyService shuttleStandbyService;
    @Autowired
    private DictService dictService;
    @Autowired
    private NavigateUtils navigateUtils;

    public synchronized ShuttleThread searchIdleShuttle(Task task) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -68,7 +70,7 @@
        //获取同层小车
        List<Device> currentLevDevices = new ArrayList<>();
        //获取跨层小车
        List<Device> diffLevDevices = new ArrayList<>();
        HashMap<Integer,List<Device>> diffLevDeviceMap = new HashMap<>();
        for (Device device : list) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -77,10 +79,18 @@
                continue;
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
            int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            if (shuttleLev == lev) {
                currentLevDevices.add(device);
            }else {
                diffLevDevices.add(device);
                List<Device> devices = null;
                if(diffLevDeviceMap.containsKey(shuttleLev)) {
                    devices = diffLevDeviceMap.get(shuttleLev);
                }else {
                    devices = new ArrayList<>();
                }
                devices.add(device);
                diffLevDeviceMap.put(shuttleLev, devices);
            }
        }
        //搜索同层
@@ -88,7 +98,7 @@

        //同层没有搜索到合适小车，跨楼层搜索
        if(resThread == null) {
            resThread = this.searchDiffLevShuttle(diffLevDevices, locNo, task);
            resThread = this.searchDiffLevShuttle(diffLevDeviceMap, locNo, task);
        }

        return resThread;
@@ -144,7 +154,7 @@

            // 同楼层直接计算到目标库位
            //当前穿梭车线程到当前车子所在楼层的目标库位距离
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                    currentLocNo
                    , locNo
                    , NavigationMapType.NORMAL.id
@@ -154,7 +164,7 @@
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离

            // 挂载任务权重
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
@@ -171,102 +181,109 @@
        return resThread;
    }

    private synchronized ShuttleThread searchDiffLevShuttle(List<Device> devices, String locNo, Task task) {
    private synchronized ShuttleThread searchDiffLevShuttle(HashMap<Integer,List<Device>> devicesMap, String locNo, Task task) {
        ShuttleThread resThread = null;
        Integer finalDistance = ShuttleDispatcher.INF;

        //检测目标楼层车数量是否小于允许的最大数量
        boolean checkDispatchMaxNum = checkDispatchMaxNum(Utils.getLev(locNo), task.getHostId());

        for (Device device : devices) {
            if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
                continue;
            }
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }
        for (Map.Entry<Integer, List<Device>> entry : devicesMap.entrySet()) {
            Integer lev = entry.getKey();
            List<Device> devices = entry.getValue();
            for (Device device : devices) {
                if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
                    continue;
                }
                //获取四向穿梭车线程
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                    continue;
                }

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

            BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                    .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
                    .eq(BasShuttle::getHostId, device.getHostId()));
            if (basShuttle == null) {
                continue;//小车基础数据不存在
            }
                BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                        .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
                        .eq(BasShuttle::getHostId, device.getHostId()));
                if (basShuttle == null) {
                    continue;//小车基础数据不存在
                }

            if (!Cools.isEmpty(basShuttle.getDisableLev())) {
                List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
                //检查小车是否禁用该楼层
                if (disableLev.contains(Utils.getLev(locNo))) {
                    continue;//小车禁用该楼层跳过该车
                if (!Cools.isEmpty(basShuttle.getDisableLev())) {
                    List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
                    //检查小车是否禁用该楼层
                    if (disableLev.contains(Utils.getLev(locNo))) {
                        continue;//小车禁用该楼层跳过该车
                    }
                }

                //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
                String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", task.getTaskNo(), Utils.getLev(locNo));
                    continue;
                }

                //获取距离小车位置最近的空闲可换层提升机
                LiftThread liftThread = liftDispatcher.searchIdleLift(currentLocNo, task.getHostId(), true);
                if (liftThread == null) {
                    continue;
                }
                Device recentTransferLift = liftThread.getDevice();

                //获取小车楼层提升机待机位
                ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                        .eq(ShuttleStandby::getDeviceId, recentTransferLift.getId())
                        .eq(ShuttleStandby::getDeviceLev, currentLev)
                        .eq(ShuttleStandby::getStatus, 1));
                String targetLocNo = shuttleStandby.getDeviceLoc();

                //当前穿梭车线程到当前车子所在楼层的提升机待机位距离
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                        currentLocNo
                        , targetLocNo
                        , NavigationMapType.NORMAL.id
                        , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
                );//搜索空闲穿梭车，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

                // 不同楼层权重
                if (currentLev != Utils.getLev(locNo)) {
                    currDistance += WEIGHT;
                }

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

                if (currDistance < finalDistance) {
                    finalDistance = currDistance;
                    resThread = shuttleThread;
                }
            }

            //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
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

            if (!checkDispatchMaxNum) {
                News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", task.getTaskNo(), Utils.getLev(locNo));
                continue;
            }

            //获取距离小车位置最近的空闲可换层提升机
            LiftThread liftThread = liftDispatcher.searchIdleLift(currentLocNo, task.getHostId(), true);
            if (liftThread == null) {
                continue;
            }
            Device recentTransferLift = liftThread.getDevice();

            //获取小车楼层提升机待机位
            ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, recentTransferLift.getId())
                    .eq(ShuttleStandby::getDeviceLev, currentLev)
                    .eq(ShuttleStandby::getStatus, 1));
            String targetLocNo = shuttleStandby.getDeviceLoc();

            //当前穿梭车线程到当前车子所在楼层的提升机待机位距离
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
                    currentLocNo
                    , targetLocNo
                    , NavigationMapType.NORMAL.id
                    , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
            );//搜索空闲穿梭车，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

            // 不同楼层权重
            if (currentLev != Utils.getLev(locNo)) {
                currDistance += WEIGHT;
            }

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

            if (currDistance < finalDistance) {
                finalDistance = currDistance;
                resThread = shuttleThread;
            if (resThread != null) {
                break;
            }
        }

        return resThread;
    }

@@ -401,7 +418,7 @@
        String recentLoc = null;
        for (String loc : locNos) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
            List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                    currentLocNo
                    , loc
                    , NavigationMapType.NORMAL.id
@@ -411,7 +428,7 @@
                continue;
            }

            Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
            if (currDistance < finalDistance) {
                finalDistance = currDistance;
                recentLoc = loc;
@@ -521,13 +538,13 @@
    //分析出库路径待机库位
    public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
        //计算路径并分解成两段动作
        List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
        List<NavigateNode> nodeList = navigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
            return null;
        }
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
        ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
        if (data.size() <= 1) {
            return startLoc;//两点之间只有一段路径，在起点位置等待
        }