From 25b1f6699b46bb9413b8c6b98f32c20aa60394fd Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 03 十二月 2024 16:01:13 +0800
Subject: [PATCH] #算法优化
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 46 ++++++++++++++++++++++++++++------------------
1 files changed, 28 insertions(+), 18 deletions(-)
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 f0b0556..b58abda 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
@@ -63,6 +63,8 @@
private BasConveyorStaService basConveyorStaService;
@Autowired
private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -125,7 +127,7 @@
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
break;
case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
// 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
@@ -136,6 +138,15 @@
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
+
+ if (motion.getReleaseLift() == 2) {//鎵ц涓噴鏀炬彁鍗囨満
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+
break;
case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//鑾峰彇杈撻�佺珯鐐�
@@ -166,17 +177,17 @@
.eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
- shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
break;
case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
@@ -216,7 +227,7 @@
// }
shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_OUT_LIFT;
break;
case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
// 鍒ゆ柇鎻愬崌鏈虹姸鎬�
@@ -252,16 +263,16 @@
// return false;
// }
- shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
break;
case SHUTTLE_CHARGE_ON://鍏呯數寮�
- shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_ON;
shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
- shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_OFF;
shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
assignCommand.setCharge(Boolean.TRUE);
break;
@@ -278,7 +289,7 @@
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;
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
//鑾峰彇鍏ㄩ儴寰呮満浣�
List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
@@ -510,7 +521,7 @@
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);
Long hostId = shuttleThread.getDevice().getHostId();
- List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
@@ -523,7 +534,7 @@
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
for (ArrayList<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
@@ -531,7 +542,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId);
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
@@ -563,11 +574,10 @@
return null;//瑙ｉ攣澶辫触
}
-
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);
Long hostId = shuttleThread.getDevice().getHostId();
- List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
return null;
@@ -580,7 +590,7 @@
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
for (ArrayList<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
@@ -588,7 +598,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ Integer allDistance = navigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId);
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
--
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