Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master in...

luxiaotao1123

2024-04-07 32c168d5095a0391deb71e3a6b0223f4211a9182

Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java

@@ -26,6 +26,8 @@

    Task selectMoveWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    Task selectChargeWorking(Integer shuttleNo);

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java

@@ -24,6 +24,8 @@

    Task selectMoveWorking(Integer shuttleNo);

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    Task selectChargeWorking(Integer shuttleNo);

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -9,6 +9,7 @@
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
@@ -62,6 +63,8 @@
    private TaskCtgService taskCtgService;
    @Autowired
    private DictService dictService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    /**
     * 组托
@@ -356,6 +359,9 @@
                continue;
            }

            //获取避让位置
            String standByLocNo = shuttleDispatcher.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());

            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
@@ -365,7 +371,7 @@
            task.setOriginSite(null);
            task.setOriginLoc(null);
            task.setDestSite(null);
            task.setDestLoc("1-1-1"); // 暂时未定
            task.setDestLoc(standByLocNo); // 避让位置
            task.setIoTime(new Date());
            task.setStartTime(new Date());
            task.setHostId(device.getHostId());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java

@@ -86,6 +86,11 @@
    }

    @Override
    public List<Task> selectWorkingByShuttle(Integer shuttleNo) {
        return this.baseMapper.selectWorkingByShuttle(shuttleNo);
    }

    @Override
    public Task selectChargeWorking(Integer shuttleNo) {
        return this.baseMapper.selectChargeWorking(shuttleNo);
    }

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

@@ -1,13 +1,18 @@
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;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
@@ -48,6 +53,8 @@
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private BasShuttleService basShuttleService;

    public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -82,11 +89,11 @@
                continue;
            }

//            //检测是否存在充电任务
//            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
//            if (wrkCharge != null) {
//                continue;
//            }
            //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
            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
@@ -121,11 +128,11 @@
                currDistance += WEIGHT;
            }

//            // 挂载任务权重
//            List<Task> tasks = taskService.selectWorkingByShuttle(shuttle.getId());
//            if (!Cools.isEmpty(tasks)) {
//                currDistance += tasks.size() * WEIGHT;
//            }
            // 挂载任务权重
            List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
            if (!Cools.isEmpty(tasks)) {
                currDistance += tasks.size() * WEIGHT;
            }

            if (currDistance < finalDistance) {
                finalDistance = currDistance;
@@ -136,38 +143,61 @@
        return resThread;
    }

//    /**
//     * 生成穿梭车迁移任务
//     */
//    public WrkCharge generateShuttleChargeWrkComplete(Integer shuttleNo, String locNo) {
//        WrkCharge wrkCharge = new WrkCharge();
//        wrkCharge.setShuttleNo(shuttleNo);
//        wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
//        wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
//        wrkCharge.setWrkSts(WrkMastStsType.NEW_MOVE.sts);   // 迁移任务
//        wrkCharge.setIoType(WrkIoTypeType.MOVE.sts);
//        wrkCharge.setIoPri((double) 10);
//        wrkCharge.setLocNo(locNo);
//        wrkCharge.setMemo("reset");
//        wrkCharge.setAppeTime(new Date());
//
//        // generate motion list
//        List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(wrkCharge);
//        if (Cools.isEmpty(motionList)) {
//            News.error("保存{}号四向穿梭车迁移任务失败!!!", shuttleNo);
//            return null;
//        }
//        motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
//
//        wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_MOVE.sts);
//
//        if (!wrkChargeService.insert(wrkCharge)) {
//            News.error("保存{}号四向穿梭车迁移任务失败!!!", shuttleNo);
//            return null;
//        }
//
//        return wrkCharge;
//    }
    /**
     * 搜索避让库位，通过小车号和目标库位
     */
    public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) {
        BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                .eq(BasShuttle::getShuttleNo, shuttleNo)
                .eq(BasShuttle::getHostId, hostId));
        if (basShuttle == null) {
            throw new CoolException("小车基础数据不存在");
        }

        String idleLoc = basShuttle.getIdleLoc();
        if (Cools.isEmpty(idleLoc)) {
            throw new CoolException("小车避让数据不存在");
        }

        int lev = Utils.getLev(locNo);//当前楼层
        JSONArray standbyLoc = JSON.parseArray(idleLoc);
        if (lev > standbyLoc.size()) {
            throw new CoolException("避让数据异常");
        }

        Object object = standbyLoc.get(lev - 1);
        List<String> locs = JSON.parseArray(object.toString(), String.class);
        if (locs.isEmpty()) {
            throw new CoolException("避让数据为空");
        }

        Integer finalDistance = ShuttleDispatcher.INF;
        String recentLoc = null;
        for (String loc : locs) {
            //当前穿梭车到避让位计算
            List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
                    locNo
                    , loc
                    , NavigationMapType.NORMAL.id
                    , Utils.getShuttlePoints(shuttleNo, lev)
            );//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
            if (currDistance < finalDistance) {
                finalDistance = currDistance;
                recentLoc = loc;
            }
        }

        if (recentLoc == null) {
            throw new CoolException("搜索避让位置失败");
        }

        return recentLoc;
    }


}

 zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml

@@ -49,6 +49,13 @@
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectWorkingByShuttle" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (1,2,3,101,102,103,201,202,203,204,301,302,303,401,402,403)
          and shuttle_no = #{shuttleNo}
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectChargeWorking" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (201,202,203,204)