#

Junjie

2025-04-15 d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb

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

@@ -1,7 +1,6 @@
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;
@@ -24,6 +23,7 @@
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

@@ -59,6 +59,73 @@
    @Autowired
    private NavigateUtils navigateUtils;

    /**
     * 调度车辆
     */
    public Device dispatchShuttle(Task task, String locNo) {
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        ShuttleThread resThread = null;
        int lev = Utils.getLev(locNo);
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        //获取同层小车
        List<Device> currentLevDevices = new ArrayList<>();
        //获取跨层小车
        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());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            if (shuttleLev == lev) {
                currentLevDevices.add(device);
            } else {
                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
        resThread = this.searchCurrentLevShuttle(currentLevDevices, locNo);

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

        if (resThread != null) {
            if (resThread.getStatus().getCurrentLocNo().equals(locNo)) {
                return resThread.getDevice();
            }

            Task result = generateMoveTask(resThread.getDevice(), locNo);
            if (result != null) {
                return resThread.getDevice();
            }
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return null;
    }

    public synchronized ShuttleThread searchIdleShuttle(Task task) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
        ShuttleThread resThread = null;
@@ -76,6 +143,10 @@
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

@@ -144,6 +215,12 @@
            }

            // 有没有被其他任务调度
            List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
            if (!taskList.isEmpty()) {
                continue;
            }


            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

@@ -154,10 +231,10 @@

            // 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.calcWhiteList(
                    currentLocNo
                    , locNo
                    , NavigationMapType.NORMAL.id
                    , NavigationMapType.DFX.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) {
@@ -228,6 +305,11 @@
                }

                // 有没有被其他任务调度
                List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
                if (!taskList.isEmpty()) {
                    continue;
                }

                int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
                String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

@@ -254,7 +336,7 @@
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(
                        currentLocNo
                        , targetLocNo
                        , NavigationMapType.NORMAL.id
                        , NavigationMapType.DFX.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) {
@@ -307,6 +389,11 @@
            return null;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return null;
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
@@ -314,7 +401,7 @@
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
        task.setDestSite(null);
        task.setDestLoc(locNo); // 迁移位置
        task.setIoTime(new Date());
@@ -556,5 +643,26 @@
        return lastPathStartLoc;
    }

    //获取小车坐标
    public String findShuttleLocNo(Integer shuttleNo, Long hostId) {
        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getDeviceNo, shuttleNo)
                .eq(Device::getHostId, hostId)
                .eq(Device::getStatus, 1));
        if(device == null) {
            return null;
        }

        //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) {
            return null;
        }

        return shuttleProtocol.getCurrentLocNo();
    }


}