From 33c638f4f7d49d92814a5d69cf51dca6026ced66 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期五, 18 十月 2024 14:22:04 +0800
Subject: [PATCH] #
---
zy-asrs-flow/src/pages/task/task/index.jsx | 26 +++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 6
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java | 44 ++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 205 ++++++++++++++++++++++++++++------------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java | 2
5 files changed, 216 insertions(+), 67 deletions(-)
diff --git a/zy-asrs-flow/src/pages/task/task/index.jsx b/zy-asrs-flow/src/pages/task/task/index.jsx
index 6f7590f..20bbced 100644
--- a/zy-asrs-flow/src/pages/task/task/index.jsx
+++ b/zy-asrs-flow/src/pages/task/task/index.jsx
@@ -331,6 +331,32 @@
/>,
},
{
+ title: '灏忚溅',
+ dataIndex: 'shuttleNo',
+ valueType: 'text',
+ hidden: false,
+ width: 140,
+ filterDropdown: (props) => <TextFilter
+ name='phase'
+ {...props}
+ actionRef={actionRef}
+ setSearchParam={setSearchParam}
+ />,
+ },
+ {
+ title: '鎻愬崌鏈�',
+ dataIndex: 'liftNo',
+ valueType: 'text',
+ hidden: false,
+ width: 140,
+ filterDropdown: (props) => <TextFilter
+ name='phase'
+ {...props}
+ actionRef={actionRef}
+ setSearchParam={setSearchParam}
+ />,
+ },
+ {
title: '绌烘墭',
dataIndex: 'emptyMk$',
valueType: 'text',
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 0f11234..fdea0f4 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
@@ -170,7 +170,7 @@
dto.setLev(Utils.getLev(task.getDestLoc()));
dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
-// dto.setSync();//寮傛鎵ц
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -206,7 +206,7 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
- dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
+// dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
MotionCtgType.SHUTTLE_TRANSPORT
));
@@ -237,6 +237,7 @@
dto.setLev(Utils.getLev(task.getDestLoc()));
dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
+ dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
@@ -382,7 +383,6 @@
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
- dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
MotionCtgType.SHUTTLE_TRANSPORT
));
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
index 35cac52..c8680e1 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
@@ -113,6 +113,50 @@
// return false;
// }
+ //鍒ゆ柇鐩爣绔欐槸鍚︽湁鎵樼洏
+ Integer conveyorDeviceId = Integer.parseInt(motion.getDockNo());
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, conveyorDeviceId);
+ if (devpThread == null) {
+ return false;
+ }
+// //*************鏍囧噯绯荤粺浠ｇ爜********************
+// StaProtocol staProtocol = devpThread.getStation().get(motion.getTarDrt());
+// if (staProtocol == null) {
+// return false;
+// }
+// if (!staProtocol.isAutoing()) {
+// return false;
+// }
+// if (staProtocol.isLoading()) {
+// return false;
+// }
+// if (staProtocol.getWorkNo().intValue() != 0) {
+// return false;
+// }
+// //*************************************************
+
+
+ //*************姝や唬鐮佷负鍏夋嘲瀹氬埗浠ｇ爜********************
+ Integer tarDrt = motion.getTarDrt();
+ if (tarDrt == 31001) {
+ tarDrt = 31004;
+ }
+
+ StaProtocol staProtocol = devpThread.getStation().get(tarDrt);
+ if (staProtocol == null) {
+ return false;
+ }
+ if (!staProtocol.isAutoing()) {
+ return false;
+ }
+ if (staProtocol.isLoading()) {
+ return false;
+ }
+ if (staProtocol.getWorkNo().intValue() != 0) {
+ return false;
+ }
+ //*************************************************
+
command = liftThread.getPalletInOutCommand(assignCommand.getDeviceTaskNo(), Integer.parseInt(motion.getOrigin()), Integer.parseInt(motion.getTarget()), motion.getOriDrt(), motion.getTarDrt(), LiftCommandModeType.PALLET_INOUT);
list.addAll(command);
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
index 128af0d..e6c0905 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/TaskTimer.java
@@ -64,7 +64,7 @@
if(task.getTaskSts().equals(TaskStsType.COMPLETE_INBOUND.sts) || task.getTaskSts().equals(TaskStsType.COMPLETE_OUTBOUND.sts)){
boolean httpRequest = doHttpRequest(task, wmsUrl, "/open/asrs//wrkMast/finish/v1");
if (!httpRequest) {
- return;
+ continue;
}
}
}
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 820c458..d252ea6 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
@@ -60,17 +60,44 @@
public synchronized ShuttleThread searchIdleShuttle(Task task) {
String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
ShuttleThread resThread = null;
- Integer finalDistance = ShuttleDispatcher.INF;
-
- //妫�娴嬬洰鏍囨ゼ灞傝溅鏁伴噺鏄惁灏忎簬鍏佽鐨勬渶澶ф暟閲�
- boolean checkDispatchMaxNum = checkDispatchMaxNum(Utils.getLev(locNo), task.getHostId());
-
+ int lev = Utils.getLev(locNo);
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
.eq(Device::getHostId, task.getHostId())
.eq(Device::getStatus, 1));
-
+ //鑾峰彇鍚屽眰灏忚溅
+ List<Device> currentLevDevices = new ArrayList<>();
+ //鑾峰彇璺ㄥ眰灏忚溅
+ List<Device> diffLevDevices = new ArrayList<>();
for (Device device : list) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
+ currentLevDevices.add(device);
+ }else {
+ diffLevDevices.add(device);
+ }
+ }
+ //鎼滅储鍚屽眰
+ resThread = this.searchCurrentLevShuttle(currentLevDevices, locNo);
+
+ //鍚屽眰娌℃湁鎼滅储鍒板悎閫傚皬杞︼紝璺ㄦゼ灞傛悳绱�
+ if(resThread == null) {
+ resThread = this.searchDiffLevShuttle(diffLevDevices, locNo, task);
+ }
+
+ return resThread;
+ }
+
+ private synchronized ShuttleThread searchCurrentLevShuttle(List<Device> devices, String locNo) {
+ ShuttleThread resThread = null;
+ Integer finalDistance = ShuttleDispatcher.INF;
+ for (Device device : devices) {
if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
continue;
}
@@ -115,32 +142,102 @@
break;
}
- String targetLocNo = null;//榛樿鍒版彁鍗囨満寰呮満浣�
// 鍚屾ゼ灞傜洿鎺ヨ绠楀埌鐩爣搴撲綅
- if (currentLev == Utils.getLev(locNo)) {
- targetLocNo = locNo;
- }else {
- if (!checkDispatchMaxNum) {
- News.info("{}浠诲姟锛寋}灞傦紝宸茬粡杈惧埌褰撳墠妤煎眰璋冨害杞﹁締鏈�澶у��", task.getTaskNo(), Utils.getLev(locNo));
- continue;
- }
-
- //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
- LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
- if (liftThread == null) {
- continue;
- }
- Device recentTransferLift = liftThread.getDevice();
-
- //鑾峰彇灏忚溅妤煎眰鎻愬崌鏈哄緟鏈轰綅
- ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
- .eq(ShuttleStandby::getDeviceId, recentTransferLift.getId())
- .eq(ShuttleStandby::getDeviceLev, currentLev)
- .eq(ShuttleStandby::getStatus, 1));
- targetLocNo = shuttleStandby.getDeviceLoc();
+ //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鐩爣搴撲綅璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
+ currentLocNo
+ , locNo
+ , NavigationMapType.NORMAL.id
+ , Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), currentLev)
+ );//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
}
- //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
+ Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+ // 鎸傝浇浠诲姟鏉冮噸
+ List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
+ if (!Cools.isEmpty(tasks)) {
+ currDistance += tasks.size() * WEIGHT;
+ }
+
+ if (currDistance < finalDistance) {
+ finalDistance = currDistance;
+ resThread = shuttleThread;
+ }
+ }
+
+ return resThread;
+ }
+
+ private synchronized ShuttleThread searchDiffLevShuttle(List<Device> devices, String locNo, Task task) {
+ ShuttleThread resThread = null;
+ Integer finalDistance = ShuttleDispatcher.INF;
+
+ //妫�娴嬬洰鏍囨ゼ灞傝溅鏁伴噺鏄惁灏忎簬鍏佽鐨勬渶澶ф暟閲�
+ boolean checkDispatchMaxNum = checkDispatchMaxNum(Utils.getLev(locNo), task.getHostId());
+
+ for (Device device : devices) {
+ if (taskService.hasBusyOutboundByShuttle(Integer.parseInt(device.getDeviceNo()))) {
+ continue;
+ }
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (!shuttleThread.isIdle()) {
+ continue;
+ }
+
+ BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
+ .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
+ .eq(BasShuttle::getHostId, device.getHostId()));
+ if (basShuttle == null) {
+ continue;//灏忚溅鍩虹鏁版嵁涓嶅瓨鍦�
+ }
+
+ if (!Cools.isEmpty(basShuttle.getDisableLev())) {
+ List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
+ //妫�鏌ュ皬杞︽槸鍚︾鐢ㄨ妤煎眰
+ if (disableLev.contains(Utils.getLev(locNo))) {
+ continue;//灏忚溅绂佺敤璇ユゼ灞傝烦杩囪杞�
+ }
+ }
+
+ //妫�娴嬫槸鍚﹀瓨鍦ㄥ厖鐢典换鍔�
+ Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
+ if (taskCharge != null) {
+ continue;
+ }
+
+ // 鏈夋病鏈夎鍏朵粬浠诲姟璋冨害
+ int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠灞傞珮
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
+
+ if (!checkDispatchMaxNum) {
+ News.info("{}浠诲姟锛寋}灞傦紝宸茬粡杈惧埌褰撳墠妤煎眰璋冨害杞﹁締鏈�澶у��", task.getTaskNo(), Utils.getLev(locNo));
+ continue;
+ }
+
+ //鑾峰彇璺濈灏忚溅浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
+ LiftThread liftThread = liftDispatcher.searchIdleLift(currentLocNo, task.getHostId(), true);
+ if (liftThread == null) {
+ continue;
+ }
+ Device recentTransferLift = liftThread.getDevice();
+
+ //鑾峰彇灏忚溅妤煎眰鎻愬崌鏈哄緟鏈轰綅
+ ShuttleStandby shuttleStandby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, recentTransferLift.getId())
+ .eq(ShuttleStandby::getDeviceLev, currentLev)
+ .eq(ShuttleStandby::getStatus, 1));
+ String targetLocNo = shuttleStandby.getDeviceLoc();
+
+ //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄緟鏈轰綅璺濈
List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
currentLocNo
, targetLocNo
@@ -338,7 +435,7 @@
return false;
}
- int levCount = 0;//鐩爣妤煎眰杞﹁締鏁伴噺
+ ArrayList<Integer> shuttleNos = new ArrayList<>();
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
.eq(Device::getHostId, hostId)
@@ -373,7 +470,7 @@
continue;//鍏呯數涓�
}
- levCount++;//鐩爣妤煎眰鏈夎溅锛屾暟閲忓鍔�
+ shuttleNos.add(shuttleProtocol.getShuttleNo());//鐩爣妤煎眰鏈夎溅锛屾坊鍔犺繘list
}
}
@@ -391,52 +488,34 @@
}
if (targetLev == lev) {
- levCount++;//宸ヤ綔妗ｇ洰鏍囨ゼ灞傚拰瀹為檯妤煎眰鐩稿悓锛屾暟閲忓鍔�
+ //宸ヤ綔妗ｇ洰鏍囨ゼ灞傚拰瀹為檯妤煎眰鐩稿悓锛屾暟閲忓鍔�
+ if (!shuttleNos.contains(task.getShuttleNo())) {
+ shuttleNos.add(task.getShuttleNo());
+ }
continue;
}
-
}
//鎼滅储鏄惁瀛樺湪鍓嶅線鐩爣妤煎眰鐨勫皬杞﹀伐浣滄。
for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
.in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts, TaskStsType.ANALYZE_INBOUND.sts, TaskStsType.EXECUTE_INBOUND.sts, TaskStsType.COMPLETE_INBOUND.sts
, TaskStsType.NEW_OUTBOUND.sts, TaskStsType.ANALYZE_OUTBOUND.sts, TaskStsType.EXECUTE_OUTBOUND.sts, TaskStsType.COMPLETE_OUTBOUND.sts))) {
-
- List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>()
- .eq(Motion::getTaskNo, task.getTaskNo())
- .in(Motion::getMotionCtg, MotionCtgType.SHUTTLE_MOVE
- , MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
- , MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
- , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
- , MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- , MotionCtgType.SHUTTLE_MOVE_FROM_CONVEYOR
- , MotionCtgType.SHUTTLE_MOVE_TO_CONVEYOR
- , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR
- ));
-
- boolean isUpdateLev = false;
- for (Motion motion : motions) {
- if (motion.getOrigin() == null || motion.getTarget() == null) {
- continue;
- }
-
- int sourceLev = Utils.getLev(motion.getOrigin());//鍔ㄤ綔婧愭ゼ灞�
- int targetLev = Utils.getLev(motion.getTarget());//鍔ㄤ綔鐩爣妤煎眰
- if (sourceLev != targetLev) {
- isUpdateLev = true;
- break;
- }
- }
-
- if(isUpdateLev) {
- levCount++;//宸ヤ綔妗ｅ睘浜庤法灞備换鍔★紝灏忚溅褰掑睘浜庣洰鏍囨ゼ灞�
+ String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
+ if (Utils.getLev(locNo) != lev) {
continue;
}
+ if (task.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (!shuttleNos.contains(task.getShuttleNo())) {
+ shuttleNos.add(task.getShuttleNo());
+ }
}
- return levCount < Integer.parseInt(dict.getValue());
+ return shuttleNos.size() < Integer.parseInt(dict.getValue());
}
//鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
--
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