zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -984,6 +984,9 @@ //穿梭车出提升机库位号 String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc(); //穿梭车换层时待机位置 使用表列 memo数据 String standbyLocNoMemo = shuttleStandbyTo.getMemo(); //穿梭车进提升机待机位库位号 String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc(); @@ -1018,7 +1021,7 @@ MotionDto.build((dto -> { dto.setShuttleNo(shuttleDevice.getId().intValue()); dto.setShuttleDevice(shuttleDevice); dto.setLocNo(standbyLocNoTo); dto.setLocNo(standbyLocNoMemo); })), MotionCtgType.SHUTTLE_MOVE )); @@ -1044,7 +1047,7 @@ motionList.addAll(kernelService.shuttleMove( MotionDto.build((dto -> { dto.setShuttleNo(shuttleDevice.getId().intValue()); dto.setLocNo(standbyLocNoTo); dto.setLocNo(standbyLocNoMemo); })), MotionDto.build((dto -> { dto.setShuttleNo(shuttleDevice.getId().intValue()); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -23,10 +23,7 @@ import com.zy.asrs.wcs.core.model.command.LiftCommand; import com.zy.asrs.wcs.core.model.enums.*; import com.zy.asrs.wcs.core.service.*; import com.zy.asrs.wcs.core.utils.OpenUtils; import com.zy.asrs.wcs.core.utils.RedisUtil; import com.zy.asrs.wcs.core.utils.ShuttleDispatcher; import com.zy.asrs.wcs.core.utils.Utils; import com.zy.asrs.wcs.core.utils.*; import com.zy.asrs.wcs.rcs.News; import com.zy.asrs.wcs.rcs.cache.SlaveConnection; import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant; @@ -95,6 +92,8 @@ private OpenUtils openUtils; @Autowired private LiftAction liftAction; @Autowired private NavigateUtils navigateUtils; /** * 组托 @@ -780,10 +779,6 @@ * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务 */ public synchronized void analyzeOutBoundTask() { List<Task> moveTask = taskService.selectWaitAnalyzeMoveTask(); if (!moveTask.isEmpty()) { return; } List<Task> tasks = taskService.selectPakOut(); if (tasks.isEmpty()) { return; @@ -816,15 +811,13 @@ // continue; // } // //同库位组校验 // List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo()); // List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc); // if (!outerLocMasts.isEmpty()) { // News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo()); // continue;//浅库位存在未执行任务 // } //检测货物是否可出 boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId()); if(!checkLocPathIsAvailable) { continue; } if (Cools.isEmpty(task.getShuttleNo())) { if (Cools.isEmpty(task.getShuttleNo()) || task.getShuttleNo() ==0) { //分配小车 //搜索空闲车 ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task); @@ -844,7 +837,7 @@ // generate motion list List<Motion> motionList = analyzeService.generateMotion(task); if (Cools.isEmpty(motionList)) { task.setShuttleNo(null);//保存穿梭车号 task.setShuttleNo(0);//保存穿梭车号 task.setUpdateTime(new Date()); if (!taskService.updateById(task)) { News.info("{}任务更新穿梭车号失败", task.getTaskNo()); @@ -1313,6 +1306,12 @@ // 解析小车载货移动工作档 public synchronized void analyzeLadenMoveTask() { for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) { //检测货物是否可出 boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId()); if(!checkLocPathIsAvailable) { continue; } if (Cools.isEmpty(task.getShuttleNo())) { //分配小车 //搜索空闲车 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java
@@ -2,13 +2,19 @@ import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.asrs.framework.common.SpringUtils; import com.zy.asrs.wcs.core.entity.ShuttleStandby; import com.zy.asrs.wcs.core.model.MapNode; import com.zy.asrs.wcs.core.model.NavigateNode; import com.zy.asrs.wcs.core.model.PythonSimilarityResult; import com.zy.asrs.wcs.core.model.enums.MapNodeType; import com.zy.asrs.wcs.core.model.enums.NavigationMapType; import com.zy.asrs.wcs.core.service.ShuttleStandbyService; import com.zy.asrs.wcs.rcs.News; import com.zy.asrs.wcs.rcs.entity.Device; import com.zy.asrs.wcs.rcs.thread.LiftThread; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Component; @@ -26,9 +32,12 @@ @Value("${pythonCalcPath}") private String pythonCalcPath; @Value("${pythonCalcSimilarity}") private String pythonCalcSimilarity; @Autowired private LiftDispatcher liftDispatcher; @Autowired private ShuttleStandbyService shuttleStandbyService; public List<NavigateNode> calcWhiteList(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) { //通过开始编号和结束编号获取对应的xy轴坐标 @@ -418,6 +427,31 @@ return 0D; } //检测库位路径是否可用(用于库位是否可移动检测) public boolean checkLocPathIsAvailable(String startLocNo, Long hostId) { //获取距离目标位置最近的可换层提升机(可能不空闲) LiftThread liftThread = liftDispatcher.searchLift(startLocNo, hostId, true); if (liftThread == null) { return false; } Device transferLiftDevice = liftThread.getDevice(); ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>() .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId()) .eq(ShuttleStandby::getDeviceLev, Utils.getLev(startLocNo)) .eq(ShuttleStandby::getStatus, 1)); //提升机库位号 String liftLocNo = shuttleStandbyTo.getDeviceLoc(); //计算库位到提升机库位，路径是否可用 List<NavigateNode> nodeList = this.calc(startLocNo, liftLocNo, NavigationMapType.DFX.id, null); if (nodeList == null) { return false; } return true; } public static void main(String[] args) { // //计算路径 // List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
