#

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.*;

@@ -56,21 +56,129 @@
    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();
    /**
     * 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;
        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());

        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;
        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);
        }

        return resThread;
    }

    private synchronized ShuttleThread searchCurrentLevShuttle(List<Device> devices, String locNo) {
        ShuttleThread resThread = null;
        Integer finalDistance = ShuttleDispatcher.INF;
        for (Device device : devices) {
            if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
                continue;
            }
@@ -107,6 +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

@@ -115,48 +229,19 @@
                break;
            }

            String targetLocNo = null;//默认到提升机待机位
            // 同楼层直接计算到目标库位
            if (currentLev == Utils.getLev(locNo)) {
                targetLocNo = locNo;
            }else {
                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;
                }

                //获取距离目标位置最近的空闲可换层提升机
                LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, 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));
                targetLocNo = shuttleStandby.getDeviceLoc();
            }

            //当前穿梭车线程到当前车子所在楼层的提升机口距离
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
            //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.calcWhiteList(
                    currentLocNo
                    , targetLocNo
                    , NavigationMapType.NORMAL.id
                    , locNo
                    , 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) {
                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;
            }
            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);
@@ -170,6 +255,117 @@
            }
        }

        return resThread;
    }

    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 (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;
                }

                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
                    }
                }

                //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
                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

                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.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) {
                    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;
    }

@@ -193,6 +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")));
@@ -200,7 +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());
@@ -304,7 +505,7 @@
        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
@@ -314,7 +515,7 @@
                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;
@@ -338,7 +539,7 @@
            return false;
        }

        int levCount = 0;//目标楼层车辆数量
        ArrayList<Integer> shuttleNos = new ArrayList<>();
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, hostId)
@@ -373,7 +574,7 @@
                    continue;//充电中
                }

                levCount++;//目标楼层有车，数量增加
                shuttleNos.add(shuttleProtocol.getShuttleNo());//目标楼层有车，添加进list
            }
        }

@@ -391,52 +592,76 @@
            }

            if (targetLev == lev) {
                levCount++;//工作档目标楼层和实际楼层相同，数量增加
                //工作档目标楼层和实际楼层相同，数量增加
                if (!shuttleNos.contains(task.getShuttleNo())) {
                    shuttleNos.add(task.getShuttleNo());
                }
                continue;
            }

        }

        //搜索是否存在前往目标楼层的小车工作档
        for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts, TaskStsType.ANALYZE_INBOUND.sts, TaskStsType.EXECUTE_INBOUND.sts, TaskStsType.COMPLETE_INBOUND.sts
                        , TaskStsType.NEW_OUTBOUND.sts, TaskStsType.ANALYZE_OUTBOUND.sts, TaskStsType.EXECUTE_OUTBOUND.sts, TaskStsType.COMPLETE_OUTBOUND.sts))) {

            List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>()
                    .eq(Motion::getTaskNo, task.getTaskNo())
                    .in(Motion::getMotionCtg, MotionCtgType.SHUTTLE_MOVE
                            , MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
                            , MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
                            , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
                            , MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                            , MotionCtgType.SHUTTLE_MOVE_FROM_CONVEYOR
                            , MotionCtgType.SHUTTLE_MOVE_TO_CONVEYOR
                            , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR
                    ));

            boolean isUpdateLev = false;
            for (Motion motion : motions) {
                if (motion.getOrigin() == null || motion.getTarget() == null) {
                    continue;
                }

                int sourceLev = Utils.getLev(motion.getOrigin());//动作源楼层
                int targetLev = Utils.getLev(motion.getTarget());//动作目标楼层
                if (sourceLev != targetLev) {
                    isUpdateLev = true;
                    break;
                }
            }

            if(isUpdateLev) {
                levCount++;//工作档属于跨层任务，小车归属于目标楼层
            String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
            if (Utils.getLev(locNo) != lev) {
                continue;
            }

            if (task.getShuttleNo() == null) {
                continue;
            }

            if (!shuttleNos.contains(task.getShuttleNo())) {
                shuttleNos.add(task.getShuttleNo());
            }
        }


        return levCount < Integer.parseInt(dict.getValue());
        return shuttleNos.size() < Integer.parseInt(dict.getValue());
    }

    //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)));
        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);
        if (data.size() <= 1) {
            return startLoc;//两点之间只有一段路径，在起点位置等待
        }

        //取出倒数第二段路径
        ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2);
        NavigateNode startNode = navigateNodes.get(0);
        String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
        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();
    }