From 0f5a5a759221bde50ace126eae797326837f5f72 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 16 十月 2024 16:15:12 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java | 4 ++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java | 8 +++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 35 ++++++-----------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java | 1
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 21 ++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 33 ++++++++++++++++
6 files changed, 79 insertions(+), 23 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
index 5c2f664..fbad661 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -476,10 +476,8 @@
//绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
- //绌挎杞﹀嚭鎻愬崌鏈哄悗灏忚溅寰呮満浣�
- List<String> standbyLocs = shuttleStandbyFrom.getStandbyLoc$();//鑾峰彇鍏ㄩ儴寰呮満浣�
- //鑾峰彇鍙敤寰呮満浣�
- String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+ //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
+ String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
//鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
List<String> lockPath = shuttleStandbyFrom.getLockPath$();
@@ -500,18 +498,11 @@
return motionList;
}
- //璁＄畻璺緞骞跺垎瑙ｆ垚涓ゆ鍔ㄤ綔
- List<NavigateNode> nodeList = NavigateUtils.calc(originLoc, standbyLocNoTo, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(originLoc)));
- if (nodeList == null) {
- News.error("{} dash {} can't find navigate path!", originLoc, standbyLocNoTo);
- return null;
+ //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+ String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
+ if (lastPathStartLoc == null) {
+ return motionList;//鏈垎鏋愭垚鍔�
}
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
- //鍙栧嚭鏈�鍚庝竴娈佃矾寰�
- ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 1);
- NavigateNode startNode = navigateNodes.get(0);
- String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
/**
* 鍑哄簱
@@ -580,7 +571,7 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -588,11 +579,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleFromLiftStandbyLoc);
+ dto.setLocNo(standbyLocs);
dto.setSync(0);//寮傛鎵ц
dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
@@ -812,7 +803,7 @@
MotionCtgType.SHUTTLE_PALLET_DOWN
));
- // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅
+ // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -820,11 +811,11 @@
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleFromLiftStandbyLoc);
+ dto.setLocNo(standbyLocs);
dto.setSync(0);//寮傛鎵ц
- dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀剧┛姊溅
+ dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
- MotionCtgType.SHUTTLE_MOVE
+ MotionCtgType.SHUTTLE_MOVE_STANDBY
));
// 鎻愬崌鏈鸿浇璐хЩ鍔�
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
index 7cf1e40..bbbb066 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/KernelService.java
@@ -301,6 +301,10 @@
case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
motion.setDockNo(String.valueOf(target.getStaNo()));
break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ motion.setTarget(null);//绛夊緟鑷姩鎼滅储
+ motion.setTemp(target.getLocNo());//鍏ㄩ儴寰呮満浣�
+ break;
default:
break;
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index 5390f51..f0b0556 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -15,6 +15,7 @@
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.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -60,6 +61,8 @@
private BasConveyorService basConveyorService;
@Autowired
private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -68,6 +71,8 @@
if (shuttleThread == null) {
return false;
}
+ Device shuttleDevice = shuttleThread.getDevice();
+
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (null == shuttleProtocol) {
return false;
@@ -272,6 +277,21 @@
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+
+ //鑾峰彇鍏ㄩ儴寰呮満浣�
+ List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
+ //鑾峰彇鍙敤寰呮満浣�
+ String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+
+ //鏇存柊鍔ㄤ綔鍙敤寰呮満浣�
+ motion.setTarget(shuttleFromLiftStandbyLoc);
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
+ break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
}
@@ -461,6 +481,19 @@
return false;
}
break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//閲婃斁绌挎杞�
+ task.setShuttleNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+ break;
default:
break;
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
index 9129fa2..97dbb55 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
@@ -40,6 +40,7 @@
SHUTTLE_MOVE_TO_LIFT(SHUTTLE),
SHUTTLE_MOVE_FROM_CONVEYOR(SHUTTLE),
SHUTTLE_MOVE_TO_CONVEYOR(SHUTTLE),
+ SHUTTLE_MOVE_STANDBY(SHUTTLE),
SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR(SHUTTLE),
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
index 7ae2a85..679502b 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
@@ -205,7 +205,13 @@
return false;
}
// 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
- if (map[x][y] < 0) return false;
+ if (map[x][y] < 0) {
+ return false;
+ }
+
+ if (map[x][y] == MapNodeType.CAR.id) {//鑺傜偣鏄皬杞�
+ return false;
+ }
NavigateNode navigateNode = new NavigateNode(x, y);
if (is_exist(navigateNode)) {
return false;
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
index 7f81f4c..820c458 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -439,5 +439,26 @@
return levCount < Integer.parseInt(dict.getValue());
}
+ //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+ public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
+ //璁＄畻璺緞骞跺垎瑙ｆ垚涓ゆ鍔ㄤ綔
+ List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
+ if (nodeList == null) {
+ News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
+ return null;
+ }
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ if (data.size() <= 1) {
+ return null;//涓ょ偣涔嬮棿鍙湁涓�娈佃矾寰�
+ }
+
+ //鍙栧嚭鍊掓暟绗簩娈佃矾寰�
+ ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2);
+ NavigateNode startNode = navigateNodes.get(0);
+ String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
+ return lastPathStartLoc;
+ }
+
}
--
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