小车调度分离

Junjie

2023-08-02 3709a9295cf72fe531b954c14257a6a76cba9f21

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -93,6 +93,8 @@
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private RedisUtil redisUtil;

    /**
@@ -703,7 +705,7 @@
    public boolean shuttleInExecuteStep1(WrkMast wrkMast, BasDevp basDevp) {
        if (wrkMast.getWrkSts() == 4) {
            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo());//调度小车到货物所在输送站点进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo());//调度小车到货物所在输送站点进行取货
                return false;
            }

@@ -723,7 +725,7 @@
            //判断小车是否到达输送站点库位
            if (!shuttleProtocol.getCurrentLocNo().equals(basDevp.getLocNo())) {
                //小车不在输送站点位置
                dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
                return false;
            }

@@ -970,7 +972,7 @@
        //21.生成出库任务 => 22.小车搬运中
        if (wrkMast.getWrkSts() == 21) {
            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                return false;
            }

@@ -996,7 +998,7 @@
            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车不在输送站点位置
                dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
                return false;
            }

@@ -2117,7 +2119,7 @@
            if (wrkCharge.getWrkSts() == 51) {
                if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
                    //小车不在充电桩位置
                    dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
                    shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
                    continue;
                }

@@ -2167,178 +2169,6 @@

        }

    }

    /**
     * 调度车辆-调度指定穿梭车
     */
    public void dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
        shuttleMoveGenerate(wrkNo, locNo, shuttleNo);
    }

    /**
     * 调度车辆
     */
    public void dispatchShuttle(Integer wrkNo, String locNo) {
        ArrayList<NyShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<NyShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

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

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

            if (currentLocNo.equals(locNo)) {
                //车辆当前位置已经是目标库位，调度该车
                shuttleMoveGenerate(wrkNo, locNo, shuttleProtocol.getShuttleNo().intValue());
                break;
            }

            if (currentLev == Utils.getLev(locNo)) {
                //工作档楼层相同的穿梭车
                sameLev.add(shuttleThread);
            }else {
                //工作档不同楼层的穿梭车
                diffLev.add(shuttleThread);
            }

        }

        Integer recentAllDistance = 9999999;
        NyShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
        if (sameLev.size() > 0) {
            //同一楼层有空闲穿梭车，则只在工作档楼层寻找
            //寻找离任务最近的穿梭车
            for (NyShuttleThread shuttleThread : sameLev) {
                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                //当前穿梭车线程到目标地点距离
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
                if (currentShuttlePath == null) {
                    continue;
                }
                Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                if (currentAllDistance < recentAllDistance) {
                    //如果当前楼层的车路径更小，则更新最近穿梭车
                    recentShuttle = shuttleThread;
                }
            }
        }else {
            //同一楼层，没有空闲穿梭车，只能从其他楼层调度
            //寻找离任务最近的穿梭车
            for (NyShuttleThread shuttleThread : diffLev) {

                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                int currentLev = Utils.getLev(currentLocNo);
                List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                if (wrkMasts1.size() > 0) {
                    //存在其他任务，跳过这辆车
                    continue;
                }

                //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(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
                if (currentShuttlePath == null) {
                    continue;
                }

                Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                if (currentAllDistance < recentAllDistance) {
                    //如果当前楼层的车路径更小，则更新最近穿梭车
                    recentShuttle = shuttleThread;
                }
            }
        }

        if (recentShuttle == null) {//没有搜索到可用穿梭车
            return;
        }

        //搜索到可用穿梭车，调度该车
        shuttleMoveGenerate(wrkNo, locNo, recentShuttle.getSlave().getId());
    }

    /**
     * 小车迁移任务生成
     */
    @Transactional
    public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
        Date now = new Date();
        //获取四向穿梭车线程
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return false;
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return false;
        }

        //小车处于空闲状态
        if (!shuttleProtocol.isIdleNoCharge()) {
            return false;
        }

        //判断穿梭车是否存在未完成的小车移库任务
        WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(shuttleNo);
        if (hasMoveWorking != null) {//小车存在移库任务，等待执行完成后再生成新的任务
            return false;
        }

        //判断是否有其他任务正在使用穿梭车
        WrkMast wrkMast2 = wrkMastMapper.selectShuttleWorking(shuttleNo);
        if (wrkMast2 != null) {//小车存在其他工作档任务，等待执行完成后再生成新的任务
            return false;
        }

        //判断是否有充电任务正在使用穿梭车
        WrkCharge wrkCharge = wrkChargeMapper.selectWorking(shuttleNo);
        if (wrkCharge != null) {//小车存在充电任务，等待执行完成后再生成新的任务
            return false;
        }

        // 获取工作号
        int workNo = commonService.getWorkNo(0);
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        wrkMast.setWrkSts(101L); // 工作状态：101.移动到近点等待迁出
        wrkMast.setIoType(200); // 入出库状态： 200.小车移库
        wrkMast.setIoPri(20D);
        wrkMast.setShuttleNo(shuttleNo);//穿梭车号
        wrkMast.setSourceLocNo(shuttleProtocol.getCurrentLocNo()); // 源库位 => 小车当前库位号
        wrkMast.setLocNo(locNo); // 目标库位
        wrkMast.setPicking("N"); // 拣料
        wrkMast.setExitMk("N"); // 退出
        wrkMast.setLinkMis("N");
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        int res = wrkMastMapper.insert(wrkMast);
        if (res == 0) {
            News.error("小车迁移 --- 保存工作档失败！ 穿梭车号：" + shuttleNo);
            throw new CoolException("保存工作档失败");
        }

        //给工作档绑定小车号
        WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);
        if (wrkMast1 != null) {
            wrkMast1.setShuttleNo(shuttleNo);
            wrkMastMapper.updateById(wrkMast1);
        }

        return true;
    }

    /**