库位移转

Junjie

2023-08-02 fffbf0c777f1189c7eed623b15660dbcbe50d2a1

库位移转

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

@@ -851,7 +851,7 @@
                    && shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
            ) {
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 5://5.小车搬运中 ==> 9.入库完成
@@ -1091,6 +1091,9 @@
                            break;
                        case 24://24.提升机搬运中 ==> 25.提升机搬运完成
                            wrkMast.setWrkSts(25L);
                            if (wrkMast.getIoType() == 11) {//库位移转
                                wrkMast.setWrkSts(4L);//4.提升机搬运完成
                            }
                            break;
                        case 104://104.提升机搬运中 ==> 105.提升机搬运完成
                            wrkMast.setWrkSts(105L);
@@ -1127,20 +1130,40 @@
        //查询库位移转工作档
        List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
        for (WrkMast wrkMast : wrkMasts1) {
            boolean step1 = this.locToLocExecuteStep1(wrkMast);//库位移转
            if (wrkMast.getSourceLocNo().equals(wrkMast.getLocNo())) {
                boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
            if (!step1) {
                continue;
                }
            }else {
                //跨楼层库位移转
                boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
                if (!step2) {
                    continue;
                }

                boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
                if (!step3) {
                    continue;
                }

                boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到出库口
                if (!step4) {
                    continue;
                }

            }

        }
    }

    /**
     * 库位移转
     * 同楼层库位移转
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean locToLocExecuteStep1(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
        if (wrkMast.getShuttleNo() == null) {
            shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
            return false;
@@ -1181,13 +1204,208 @@
        assignCommand.setCommands(result.getCommands());//运行命令
        assignCommand.setNodes(result.getNodes());//路径节点

        wrkMast.setWrkSts(5L);//1.生成入库任务 => 5.小车搬运中
            wrkMast.setWrkSts(5L);//21.生成出库任务 => 5.小车搬运中
        wrkMast.setModiTime(new Date());
        if (wrkMastMapper.updateById(wrkMast) > 0) {
            //下发任务
            MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
        }

            return false;
        }
        return true;
    }

    /**
     * 跨楼层库位移转-调度车辆取货并运送到出库口
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean locToLocExecuteStep2(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
            if (wrkMast.getShuttleNo() == null) {
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
                return false;
            }

            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return false;
            }
            if (!shuttleProtocol.isIdle()) {
                return false;
            }

            //判断小车是否到达源库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车不在源库位位置
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
                return false;
            }

            //获取穿梭车最近且空闲的提升机输送站点
            BasDevp liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
            if (liftSta == null) {
                return false;//没有可用且空闲的输送站点
            }

            //小车已抵达源库位，将货物搬运到输送站点
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
            if (result == null) {//路径计算失败
                return false;
            }

            //创建分配命令
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
            assignCommand.setCommands(result.getCommands());//运行命令
            assignCommand.setNodes(result.getNodes());//路径节点

            wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
            wrkMast.setLiftNo(liftSta.getLiftNo());//设置提升机号
            wrkMast.setModiTime(new Date());
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
            }

            return false;
        }
        return true;
    }

    /**
     * 跨楼层库位移转-提升机搬运货物
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean locToLocExecuteStep3(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
            //获取提升机线程
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }

            if (!liftProtocol.isIdle()) {
                return false;
            }

            //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
            WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
            if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
                return false;
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            }

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());

            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

            wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
            wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
            wrkMast.setShuttleNo(null);//清空小车号，等货物搬运完成后，到目标楼层重新搜索小车
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
            }
            return false;
        }
        return true;
    }

    /**
     * 跨楼层库位移转-调度车辆取货并运送到目标枯萎
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean locToLocExecuteStep4(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            }

            if (wrkMast.getShuttleNo() == null) {
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo());//调度小车到目标输送站点进行取货
                return false;
            }

            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return false;
            }
            if (!shuttleProtocol.isIdle()) {
                return false;
            }

            //判断小车是否到达目标输送站点
            if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
                //小车不在目标输送站点
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
                return false;
            }

            //小车已抵达目标输送站点，将货物搬运到目标库位
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
            if (result == null) {//路径计算失败
                return false;
            }

            //创建分配命令
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
            assignCommand.setCommands(result.getCommands());//运行命令
            assignCommand.setNodes(result.getNodes());//路径节点

            wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
            wrkMast.setModiTime(new Date());
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
            }

            return false;
        }
        return true;
    }


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

@@ -1,10 +1,12 @@
package com.zy.common.utils;

import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.WrkCharge;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkChargeMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
@@ -13,9 +15,12 @@
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.NyShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -41,6 +46,8 @@
    private WrkChargeMapper wrkChargeMapper;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasDevpService basDevpService;

    /**
     * 调度车辆-调度指定穿梭车
@@ -214,4 +221,41 @@
        return true;
    }

    /**
     * 获取穿梭车最近且空闲的提升机输送站点
     */
    public BasDevp getRecentLiftSta(Integer shuttleNo) {
        //获取四向穿梭车线程
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return null;
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return null;
        }

        for (LiftSlave slave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                continue;
            }
            if (!liftProtocol.isIdle()) {
                continue;
            }

            BasDevp basDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()), slave.getId());
            if (basDevp == null) {
                continue;
            }
            return basDevp;
        }

        return null;
    }

}

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

@@ -22,6 +22,7 @@
    AVOID(17, "避让任务"),
    TRANSPORT(18, "搬运任务"),
    SHUTTLE_MOVE_LOC_NO(19, "小车移库任务"),
    SHUTTLE_LOC_TO_LOC(20, "库位移转"),
    ;

    public Integer id;

 src/main/resources/mapper/WrkMastMapper.xml

@@ -172,7 +172,7 @@
    <select id="selectLocToLocWrkMast" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where io_type in (11)
        and wrk_sts not in (14,15,34,35)
        and wrk_sts not in (9,10,29,30)
        order by io_pri desc,wrk_sts desc
    </select>