| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/service/impl/NoLiftInServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/task/WrkMastScheduler.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/WrkStsType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -306,7 +306,7 @@ } public synchronized void noLiftIn() { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025)); List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025)); for (WrkMast wrkMast : wrkMasts) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); @@ -324,7 +324,7 @@ if (wrkMast.getStaNo() == 1025) { locNo = "1200305"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP"); boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleIn(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP",true); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); return; @@ -348,7 +348,7 @@ // 遍历堆垛机出库站 Date now = new Date(); DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId()); List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1014, 1025)); List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024)); for (WrkMast wrkMast : wrkSts) { if (devpThread == null) { return; @@ -369,10 +369,10 @@ return; } String locNo = "1200301"; if (wrkMast.getStaNo() == 1025) { if (wrkMast.getStaNo() == 1024) { locNo = "1200305"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP"); boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleIn(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP", false); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); return; @@ -405,7 +405,7 @@ staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && !staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { if (staProtocol.isAutoing() && staProtocol.isLoading()) { // 查询工作档 if (wrkMast == null) { continue; @@ -1500,10 +1500,10 @@ Map<Integer, StaProtocol> station = devpThread.getStation(); WrkMast wrkMast = null; for (StaProtocol staProtocol : station.values()) { if (staProtocol.getSiteId() == 1014 || staProtocol.getSiteId() == 1015) { if (staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1014) { wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts)); if (wrkMast != null) { wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_COMPLETE.sts); wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo()); src/main/java/com/zy/asrs/service/impl/NoLiftInServiceImpl.java
@@ -119,7 +119,7 @@ private boolean shuttleMoveExecuteTransportLiftStepCallShuttle(WrkMast wrkMast) { Date now = new Date(); //小车移动至站点 301.生成小车移库任务 ==> 呼叫小车至取货点 if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) { if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { @@ -134,7 +134,7 @@ return false; } StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026); if (!staProtocol.isLoading()) { if (!staProtocol.isLoading() || !staProtocol.isAutoing()) { log.info("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo()); News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return false; @@ -351,7 +351,6 @@ } //判断提升机楼层 if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) { //提升机在小车楼层 @@ -462,7 +461,6 @@ News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机内无小车 } //判断提升机楼层 @@ -803,7 +801,7 @@ Date now = new Date(); //小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) { if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) { //获取四向穿梭车线程 src/main/java/com/zy/asrs/task/WrkMastScheduler.java
@@ -208,7 +208,7 @@ main.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts); } main.setModiTime(new Date()); if (wrkMastService.updateById(main)) { if (!wrkMastService.updateById(main)) { log.info("更新主工作档[workNo={}]失败", wrkMast.getWrkNo()); } } src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -208,6 +208,158 @@ } /** * 调度车辆 */ public boolean searchDispatchShuttleIn(Integer wrkNo, String sourceLocNo, String locNo, String flag, boolean in) { ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车 ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { continue; } if (checkChargeWrk(shuttle.getId())) { continue;//存在充电任务，过滤小车 } if (!shuttleThread.isIdle()) { continue;//小车忙碌中 } BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId())); if (basShuttle != null) { if (basShuttle.getStatus() == 0) { continue;//小车被禁用 } } int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高 String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号 if (currentLocNo.equals(locNo)) { //车辆当前位置已经是目标库位，调度该车 //给工作档绑定小车号 WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo); if (wrkMast1 != null) { wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo()); wrkMastService.updateById(wrkMast1); return true; } break; } // if (in) { if (currentLev == Utils.getLev(sourceLocNo)) { //工作档楼层相同的穿梭车 sameLev.add(shuttleThread); } else { //工作档不同楼层的穿梭车 diffLev.add(shuttleThread); } // } else { // if (currentLev == Utils.getLev(locNo)) { // //工作档楼层相同的穿梭车 // sameLev.add(shuttleThread); // } else { // //工作档不同楼层的穿梭车 // diffLev.add(shuttleThread); // } // } } //优先调度同楼层小车，寻找离任务最近的穿梭车 if (!sameLev.isEmpty()) { Map<Integer, ShuttleThread> sameShuttles = new TreeMap<>();//自然排序小车Map for (ShuttleThread shuttleThread : sameLev) { ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); Integer shuttleNo = shuttleProtocol.getShuttleNo(); //当前穿梭车库位号 String currentLocNo = shuttleProtocol.getCurrentLocNo(); if (currentLocNo.equals(sourceLocNo)) { sameShuttles.put(-1, shuttleThread); continue; } //当前穿梭车线程到目标地点距离 List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图 if (currentShuttlePath == null) { continue; } Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离 sameShuttles.put(currentAllDistance, shuttleThread); } //尝试调度同楼层小车 for (Map.Entry<Integer, ShuttleThread> entry : sameShuttles.entrySet()) { ShuttleThread shuttleThread = entry.getValue(); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); Integer shuttleNo = shuttleProtocol.getShuttleNo(); //尝试调度小车 boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false); if (result) { return true;//调度成功 } } } //执行到此处，同楼层无调度成功小车。需要进行跨楼层调度小车 //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离) if (!diffLev.isEmpty()) { Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map //获取任务 WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo); if (wrkMast1 != null) { String targetLoc = wrkMast1.getIoType() < 100 ? wrkMast1.getLocNo() : wrkMast1.getSourceLocNo(); int lev = Utils.getLev(targetLoc);//目标楼层 //检测目标楼层车数量是否小于允许的最大数量 boolean checkDispatchMaxNum = checkDispatchMaxNum(lev); if (!checkDispatchMaxNum) { News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev); return false; } for (ShuttleThread shuttleThread : diffLev) { ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); //当前穿梭车库位号 String currentLocNo = shuttleProtocol.getCurrentLocNo(); int currentLev = Utils.getLev(currentLocNo); List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车 int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量 if (!wrkMasts1.isEmpty() && shuttleCount <= 1) { //存在其他任务且可用小车数量小于等于1，跳过这辆车 continue; } //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值 int currentValue = Math.abs(lev - currentLev); diffShuttles.put(currentValue, shuttleThread); } //尝试调度跨楼层小车 for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) { ShuttleThread shuttleThread = entry.getValue(); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); Integer shuttleNo = shuttleProtocol.getShuttleNo(); //尝试调度小车 boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false); if (result) { return true;//调度成功 } } } } News.info("{}目标库位没有搜索到可用穿梭车", locNo); return false; } /** * 小车迁移任务生成 */ @Transactional src/main/java/com/zy/core/enums/WrkStsType.java
@@ -19,7 +19,6 @@ OUTBOUND_LIFT_RUN(104, "提升机搬运中"), OUTBOUND_LIFT_RUN_COMPLETE(105, "提升机搬运完成"), OUTBOUND_DEVP_RUN(106, "输送线搬运中"), OUTBOUND_DEVP_RUN_COMPLETE(107, "输送线搬运完成"), COMPLETE_OUTBOUND(109, "出库完成"), SETTLE_OUTBOUND(110, "出库库存更新"),
