算法优化等

Junjie

2023-03-27 87f00d0a2de9c22a56de6abd28806261adf38c10

算法优化等

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -322,6 +322,13 @@
    @TableField("full_plt")
    private String fullPlt;

    /**
     * 四向穿梭车号
     */
    @ApiModelProperty(value= "四向穿梭车号")
    @TableField("shuttle_no")
    private Integer shuttleNo;

    public String getWrkSts$(){
        BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
        BasWrkStatus entity = mapper.selectById(this.wrkSts);

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

@@ -10,15 +10,11 @@
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.*;
import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
import com.zy.common.service.erp.ErpService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.*;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.News;
@@ -28,6 +24,7 @@
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
@@ -94,6 +91,8 @@
    private OrderMapper orderMapper;
    @Autowired
    private OrderDetlMapper orderDetlMapper;
    @Autowired
    private RedisUtil redisUtil;

    /**
     * 组托
@@ -624,7 +623,93 @@
            // 只有当四向穿梭车空闲 并且无任务时才继续执行
            if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() == 0) {
                //入出库逻辑
                //.....
                for (WrkMast wrkSts : wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2))) {
                    //分配任务号
                    shuttleProtocol.setTaskNo(wrkSts.getWrkNo().shortValue());
                    //分配源库位
                    shuttleProtocol.setSourceLocNo(wrkSts.getSourceLocNo());
                    //分配目标库位
                    shuttleProtocol.setLocNo(wrkSts.getLocNo());

                    //计算路径
                    List<NavigateNode> calc = NavigateUtils.calc(wrkSts.getSourceLocNo(), wrkSts.getLocNo(), "in");
                    //获取分段路径
                    ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
                    //将此map存入redis中
                    HashMap<String, Object> map = new HashMap<>();
                    //执行步序
                    map.put("step", 0);
                    //路径数据
                    map.put("path", data);
                    //工作号
                    map.put("wrk_no", wrkSts.getWrkNo());
                    //任务数据保存到redis
                    redisUtil.set("wrk_no_" + wrkSts.getWrkNo().shortValue(), JSON.toJSONString(map));
                }

            } else if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0) {
                //四向穿梭车空闲 并且有任务
                Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());
                HashMap map = JSON.parseObject(o.toString(), HashMap.class);
                //当前步序
                int step = Integer.parseInt(map.get("step").toString());
                //当前路径数据
                Object data = map.get("path");
                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
                //取第一条路径
                Object o1 = pathList.get(step);
                ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

                int size = path.size();
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                System.out.println(startPath);
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
                System.out.println(endPath);

                //下发命令
                ShuttleCommand command = new ShuttleCommand();
                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
                command.setStartToDistDistance(1000);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
                command.setIOControl((short) 0);
                command.setRunSpeed((short) 1000);
                command.setRadarTmp((short) 0);
                command.setCommandEnd((short) 1);

                if (!MessageQueue.offer(SlaveType.Shuttle, shuttleProtocol.getShuttleNo().intValue(), new Task(2, command))) {
                    News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                } else {
                    News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

                    //判断数据是否执行完成
                    if (step < size) {
                        //更新redis数据
                        //步序增加
                        step++;
                        map.put("step", step);
                        //任务数据保存到redis
                        redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
                    }else {
                        //已执行完成
                        //保存数据到数据库做流水
                        //删除redis
                        redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                        //。。。
                        //1、命令下方需要判断小车空闲状态
                        //2、
                    }

                }
            }
        }


 src/main/java/com/zy/common/model/NavigateNode.java

@@ -15,7 +15,7 @@
    private int H;//将要花费的步数
    private NavigateNode Father;//父节点
    private Boolean isInflectionPoint;//是否为拐点
    private String direction;//拐点方向
    private String direction;//行走方向

    public NavigateNode(int x, int y) {
        this.x = x;

 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -126,6 +126,7 @@
    public static ArrayList<ArrayList<NavigateNode>> getSectionPath(List<NavigateNode> mapList) {
        ArrayList<ArrayList<NavigateNode>> list = new ArrayList<>();
        ArrayList<NavigateNode> data = new ArrayList<>();
        String direction = mapList.get(0).getDirection();//行走方向
        for (NavigateNode mapNode : mapList) {
            boolean isInflectionPoint = mapNode.getIsInflectionPoint();
            data.add(mapNode);
@@ -133,7 +134,11 @@
                //拐点
                //分割数据
                list.add(data);//添加某一段数据
                direction = mapNode.getDirection();//更新行走方向
                data = new ArrayList<>();
            }else {
                //直行线路
                mapNode.setDirection(direction);//设置行走方向
            }
        }


 src/main/java/com/zy/common/utils/RedisUtil.java

@@ -2,6 +2,8 @@

import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.data.redis.core.StringRedisTemplate;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;

import java.util.List;
@@ -13,13 +15,16 @@
 * redisTemplate封装
 *
 */
//@Component
@Component
public class RedisUtil {

    @Autowired
    private RedisTemplate<String, Object> redisTemplate;
//    @Autowired
//    private RedisTemplate<String, Object> redisTemplate;

    public RedisUtil(RedisTemplate<String, Object> redisTemplate) {
    @Autowired
    private RedisTemplate redisTemplate;

    public RedisUtil(RedisTemplate redisTemplate) {
        this.redisTemplate = redisTemplate;
    }


 src/main/java/com/zy/core/enums/ShuttleRunDirection.java

New file
@@ -0,0 +1,63 @@
package com.zy.core.enums;

/**
 * 四向穿梭车运行方向
 */
public enum ShuttleRunDirection {

    TOP((short)1, "货物方向+"),
    BOTTOM((short)2, "货物方向-"),
    LEFT((short)3, "过道方向+"),
    RIGHT((short)4, "过道方向-"),
    ;

    public Short id;
    public String desc;

    ShuttleRunDirection(Short id,String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static ShuttleRunDirection get(String direction) {
        if (null == direction) {
            return null;
        }
        if (direction.equals("top")) {
            return TOP;
        } else if (direction.equals("bottom")) {
            return BOTTOM;
        } else if (direction.equals("left")) {
            return LEFT;
        } else if (direction.equals("right")) {
            return RIGHT;
        }else {
            return null;
        }
    }

    public static ShuttleRunDirection get(Short id) {
        if (null == id) {
            return null;
        }
        for (ShuttleRunDirection type : ShuttleRunDirection.values()) {
            if (type.id.equals(id.shortValue())) {
                return type;
            }
        }
        return null;
    }

    public static ShuttleRunDirection get(ShuttleRunDirection type) {
        if (null == type) {
            return null;
        }
        for (ShuttleRunDirection shuttleRunDirection : ShuttleRunDirection.values()) {
            if (shuttleRunDirection == type) {
                return shuttleRunDirection;
            }
        }
        return null;
    }

}

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -22,6 +22,16 @@
    public Short taskNo = 0;

    /**
     * 源库位
     */
    public String sourceLocNo;

    /**
     * 目标库位
     */
    public String locNo;

    /**
     * 排
     */
    public Short row;
@@ -220,4 +230,9 @@
        this.busyStatusType = type;
    }

    //获取电池电量
    public Short getBatteryPower() {
        return (short) (this.batteryPower * 0.1);
    }

}