自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
Junjie
2023-05-10 baed29d667be08051c36c31997117a1ba292d5bc 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -84,6 +84,8 @@


    @Autowired


    private WrkChargeMapper wrkChargeMapper;


    @Autowired


    private BasMapService basMapService;


    @Autowired


    private ErpService erpService;


    @Autowired


    private OrderMapper orderMapper;


@@ -544,10 +546,35 @@


    }




    /**


     * 获取/更新实时地图


     * 初始化实时地图


     */


    public synchronized void refreshMap() {


    public synchronized void initRealtimeBasMap() {


        for (int i = 1; i <= 4; i++) {//总共四层楼


            Object data = redisUtil.get("realtimeBasMap_" + i);


            if (data == null) {//redis地图数据为空，从数据库中获取


                BasMap basMap = basMapService.selectLatestMap(i);


                if (basMap == null) {


                    //数据库中也不存在地图数据，从地图文件中获取


                    //载入地图


                    NavigateMapData mapData = new NavigateMapData(i);


                    List<List<MapNode>> lists = mapData.getJsonData(-1);//获取完整地图(包括入库出库)




                    //存入数据库


                    basMap = new BasMap();


                    basMap.setData(JSON.toJSONString(lists));


                    basMap.setCreateTime(new Date());


                    basMap.setUpdateTime(new Date());


                    basMap.setLev(i);




                    if (!basMapService.insert(basMap)) {


                        log.info("地图数据存储失败");


                    }


                }




                //将数据库地图数据存入redis


                redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));


            }


        }


    }




    /**


@@ -681,7 +708,7 @@


                            if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {


                                //同一层直接取货无需经过提升机


                                //直接计算车到提升机取货再到库位路径指令


                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);


                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand);


                                if (wrkMast.getWrkSts() == 8) {


                                    //此时车在提升机内部，需要多下达一步指令让车移动到提升机口


                                    BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息


@@ -705,7 +732,7 @@


                                //不同层，将目标库位分配成提升机库位号




                                //小车移动到提升机口，计算路径


                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);


                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);


                                //分配目标库位


                                shuttleProtocol.setLocNo(liftLocNo);


                                //目标库位


@@ -729,13 +756,16 @@


    }




    //获取起点-终点指令。mapType：1=》无货地图，2=》有货地图


    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {


    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand) {


        //计算小车起点到中点所需命令


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);


        List<ShuttleCommand> commands = new ArrayList<>();


        if (calc == null) {


            return null;


        }




        List<NavigateNode> allNode = new ArrayList<>();


        allNode.addAll(calc);




        //获取分段路径


        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);


@@ -771,17 +801,26 @@


            command.setCommandEnd((short) 1);


            commands.add(command);


        }




        assignCommand.setNodes(allNode);//当前任务所占用的节点list


        //所使用的路径进行锁定禁用


        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));


        navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用




        return commands;


    }




    //获取起点-中点-终点指令


    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {


    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand) {


        //计算小车起点到中点所需命令


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图


        List<ShuttleCommand> commands = new ArrayList<>();


        if (calc == null) {


            return null;


        }




        List<NavigateNode> allNode = new ArrayList<>();


        allNode.addAll(calc);




        //获取分段路径


        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);


@@ -826,10 +865,12 @@


        commands.add(command);




        //计算小车中点到终点所需命令


        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//小车有货，走出库地图(出库地图有专用货道)


        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//小车有货，走出库地图(出库地图有专用货道)


        if (calc2 == null) {


            return null;


        }




        allNode.addAll(calc2);




        //获取分段路径


        ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);


@@ -871,6 +912,11 @@


        command.setPalletLift((short) 2);


        command.setCommandEnd((short) 1);


        commands.add(command);




        assignCommand.setNodes(allNode);//当前任务所占用的节点list


        //所使用的路径进行锁定禁用


        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));


        navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用




        return commands;


    }


@@ -955,7 +1001,7 @@


                        if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {


                            //同一层(将小车移动到货物位置)




                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);


                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);


                            //分配目标库位


                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());


                            //目标库位


@@ -966,7 +1012,7 @@


                            //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)




                            //小车到提升机口指令


                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);


                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);


                            shuttleProtocol.setLocNo(liftLocNo);


                            //目标库位


                            assignCommand.setLocNo(liftLocNo);


@@ -974,7 +1020,7 @@


                            wrkMast.setWrkSts(22L);//小车迁移状态


                        }


                    } else if (wrkMast.getWrkSts() == 25) {


                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);


                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);


                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口


                        BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息


                        ShuttleCommand moveCommand = new ShuttleCommand();


@@ -2211,11 +2257,14 @@


            if (currentLev == chargeLocNoLev) {


                //同一层无需经过提升机


                //直接计算车到充电库位




                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();




                //获取小车到充电库位路径指令


                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);


                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);


                //进行充电中


                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);


                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();




                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());


                assignCommand.setTaskMode((short) 9);//充电


                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());


@@ -2240,12 +2289,14 @@


            }else {


                //不同层，将目标库位分配成提升机库位号




                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();




                //小车移动到提升机口，计算路径


                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);


                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);


                //分配目标库位


                shuttleProtocol.setLocNo(liftLocNo);




                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();




                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());


                assignCommand.setTaskMode((short) 9);//充电


                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());