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luxiaotao1123

2024-04-12 5c0622d48c825ca4b75f63dda78d51ed75bc7a2f

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

@@ -7,25 +7,30 @@
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.Motion;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskCtg;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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.LiftCodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.TaskCtgService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.Date;
import java.util.List;

/**
@@ -43,8 +48,6 @@
    private LiftDispatcher liftDispatcher;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
//    @Autowired
//    private CommonService commonService;
    @Autowired
    private AnalyzeService analyzeService;
    @Autowired
@@ -52,25 +55,17 @@
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private TaskCtgService taskCtgService;

    public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
        ShuttleThread resThread = null;
        Integer finalDistance = ShuttleDispatcher.INF;

        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, task.getHostId())
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
        if (deviceType == null) {
            throw new CoolException("设备类型不存在");
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));

@@ -143,6 +138,63 @@
        return resThread;
    }

    //生成迁移任务
    public synchronized Task generateMoveTask(Device device, String locNo) {
        // 已有迁移任务
        if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
            return null;
        }

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MOVE")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return null;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return null;
        }

        //获取避让位置
        String standByLocNo = this.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
        task.setTaskSts(TaskStsType.NEW_MOVE.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setDestSite(null);
        task.setDestLoc(standByLocNo); // 避让位置
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setHostId(device.getHostId());
        task.setStatus(1);
        task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));

        // generate motion list
        List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
        if (Cools.isEmpty(motionList)) {
            News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
            return null;
        }
        motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

        task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);

        if (!taskService.save(task)) {
            News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
            return null;
        }

        return task;
    }

    /**
     * 搜索避让库位，通过小车号和目标库位
     */