库位移转

Junjie

2023-08-02 fffbf0c777f1189c7eed623b15660dbcbe50d2a1

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -3,7 +3,32 @@
import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.Slave;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.NyShuttleThread;
import com.zy.core.thread.ShuttleThread;

import java.text.DecimalFormat;
import java.util.ArrayList;
@@ -268,6 +293,90 @@
        return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
    }

    //出入库站点号转换对应楼层
    public static Integer outInStaNoToLev(Integer distSta) {
        Integer distLev = 1;//目标楼层
        switch (distSta) {
            case 102:
                distLev = 2;//输送线楼层
            case 105:
                distLev = 1;//一楼
            case 106:
                distLev = 3;//二楼
            case 107:
                distLev = 4;//三楼
            case 108:
                distLev = 5;//四楼
        }
        return distLev;
    }

    //楼层转换对应出入库站点号
    public static Integer levToOutInStaNo(Integer lev) {
        Integer staNo = null;//站点号
        switch (lev) {
            case 1:
                staNo = 105;
                break;
            case 2://输送线层
                staNo = 105;
                break;
            case 3:
                staNo = 106;
                break;
            case 4:
                staNo = 107;
                break;
            case 5:
                staNo = 108;
                break;
        }
        return staNo;
    }

    //提升机位置反馈转换出入库站点库位号
    public static String liftArrivalToOutInStaLocNo(Short liftArrival) {
        String locNo = null;
        switch (liftArrival) {
            case 1:
                locNo = "1800201";
                break;
            case 4:
                locNo = "1800202";
                break;
            case 8:
                locNo = "1800203";
                break;
            case 16:
                locNo = "1800204";
                break;
        }
        return locNo;
    }

    //楼层转换对应出入库站点库位号
    public static String levToOutInStaLocNo(Integer lev) {
        String locNo = null;
        if (lev >= 2) {
            lev++;
        }
        switch (lev) {
            case 1:
                locNo = "1800201";
                break;
            case 3:
                locNo = "1800202";
                break;
            case 4:
                locNo = "1800203";
                break;
            case 5:
                locNo = "1800204";
                break;
        }
        return locNo;
    }

    public static void main(String[] args) {
        System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
    }
@@ -304,4 +413,91 @@
        return result;
    }

    //获取除白名单外的指定楼层全部穿梭车xy坐标点
    public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        ArrayList<int[]> list = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            if (slave.getId().intValue() == whiteShuttle) {
                continue;//跳过白名单
            }

            //获取穿梭车所在节点位置
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

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

            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                continue;//楼层不同
            }

            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
    }

    //搜索一条没有小车的空巷道，并调度小车
    public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
        CommonService commonService = SpringUtils.getBean(CommonService.class);
        ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);

        if (shuttleThread == null) {
            return false;
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return false;
        }

        NavigateMapData mapData = new NavigateMapData(z);//获取地图数据
        int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//载入全部车辆

        int distY = -1;
        int distX = -1;
        int distZ = -1;
        for (int y = 20; y <= 56; y++) {
            boolean searchFlag = true;
            for (int x = 10; x <= 11; x++) {
                if (data[x][y] < 0 || data[x][y] == 66) {
                    searchFlag = false;//该巷道有禁用节点或有小车
                    break;
                }
            }

            if (searchFlag) {
                //搜索出空巷道
                distY = y;
                distX = 11;
                distZ = z;
                break;
            }
        }

        if (distY != -1) {

            //获取避让库位
            String distLocNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
            LocMast distLocMast = locMastService.queryByLoc(distLocNo);
            if (distLocMast == null) {
                return false;
            }

            //调度小车到避让位置
            return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
        }
        return false;
    }

}