From 4d8bb57c9eb3fda399fd7b9e9de7ecbf754244f7 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期一, 20 五月 2024 08:53:26 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 403 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 397 insertions(+), 6 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
index 0b8e774..56a8231 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -1,24 +1,41 @@
package com.zy.asrs.wcs.core.service.impl;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
-import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.framework.common.SnowflakeIdWorker;
+import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
+import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
+import com.zy.asrs.wcs.core.model.MapNode;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.service.*;
+import com.zy.asrs.wcs.core.utils.RedisUtil;
+import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
+import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
-import com.zy.asrs.wcs.core.entity.Motion;
-import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+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.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import com.zy.asrs.wcs.system.entity.Dict;
+import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -35,6 +52,22 @@
private AnalyzeService analyzeService;
@Autowired
private MotionService motionService;
+ @Autowired
+ private DeviceService deviceService;
+ @Autowired
+ private LocCtgService locCtgService;
+ @Autowired
+ private LocService locService;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private TaskCtgService taskCtgService;
+ @Autowired
+ private DictService dictService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private RedisUtil redisUtil;
/**
* 缁勬墭
@@ -42,6 +75,122 @@
*/
public synchronized void generateInboundWrk() {
+ }
+
+ /**
+ * 鍒濆鍖栧疄鏃跺湴鍥�
+ */
+ public synchronized void initRealtimeBasMap() {
+ try {
+ List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
+ .like(Dict::getFlag, "map-")
+ .eq(Dict::getStatus, 1));
+
+ TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
+ for (Dict dict : dicts) {
+ String[] split = dict.getFlag().split("-");
+ int lev = Integer.parseInt(split[1]);
+
+ TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
+ //鎺掑簭Row
+ JSONArray value = JSON.parseArray(dict.getValue());
+ for (Object o : value) {
+ JSONObject item = JSON.parseObject(o.toString());
+ if (item.getString("type").equals("SHELF")) {
+ JSONObject property = JSON.parseObject(item.getString("property"));
+ Integer row1 = property.getInteger("row");
+ ArrayList<JSONObject> bays = new ArrayList<>();
+ if (rows.containsKey(row1)) {
+ bays.addAll(rows.get(row1));
+ }
+ bays.add(property);
+ rows.put(row1, bays);
+ }
+ }
+
+ ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
+ //鎺掑簭Bay
+ for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
+ ArrayList<MapNode> nodes = new ArrayList<>();
+ for (JSONObject object : entry.getValue()) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(object.getInteger("shelfType"));
+ mapNode.setTop(object.getInteger("top"));
+ mapNode.setBottom(object.getInteger("bottom"));
+ mapNode.setLeft(object.getInteger("left"));
+ mapNode.setRight(object.getInteger("right"));
+ mapNode.setRow(object.getInteger("row"));
+ mapNode.setBay(object.getInteger("bay"));
+ mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
+ mapNode.setXBase(object.getInteger("refx"));
+ mapNode.setYBase(object.getInteger("refy"));
+ nodes.add(mapNode);
+ }
+
+ Collections.sort(nodes, new Comparator<MapNode>() {
+ @Override
+ public int compare(MapNode o1, MapNode o2) {
+ return Integer.compare(o1.getBay(), o2.getBay());
+ }
+ });
+
+ list.add(nodes);
+ }
+
+ levData.put(lev, list);
+ }
+
+ for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
+ ArrayList<ArrayList<MapNode>> lists = entry.getValue();//鑾峰彇鍦板浘
+
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(0);
+ mapNode.setBay(0);
+ mapNode.setNo("0-0");
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+
+ //鑾峰彇鏈�闀縭ow
+ int row = 0;
+ //缁欐瘡涓猺ow棣栧熬澧炲姞-1鑺傜偣
+ for (ArrayList<MapNode> list : lists) {
+ if (list.size() > row) {
+ row = list.size();
+ }
+
+ list.add(0, mapNode.clone());
+ list.add(mapNode.clone());
+ }
+
+ ArrayList<MapNode> headNodes = new ArrayList<>();
+ ArrayList<MapNode> footerNodes = new ArrayList<>();
+ for (int i = 0; i < row+2; i++) {
+ headNodes.add(mapNode.clone());
+ footerNodes.add(mapNode.clone());
+ }
+
+ lists.add(0, headNodes);
+ lists.add(footerNodes);
+
+ Integer lev = entry.getKey();
+ Date now = new Date();
+ RedisMapDto map = new RedisMapDto();
+ map.setData(JSON.toJSONString(lists));
+ map.setCreateTime(now);
+ map.setUpdateTime(now);
+ map.setLev(lev);
+
+ //灏嗗湴鍥炬暟鎹瓨鍏edis
+ redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
}
// 瑙ｆ瀽鍏ュ簱宸ヤ綔妗�
@@ -123,4 +272,246 @@
}
}
+ /**
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
+ */
+ public synchronized void loopShuttleCharge() {
+ // 鑾峰彇鍏呯數妗╁簱浣嶇被鍨�
+ LocCtg locCtg = locCtgService.getOne(new LambdaQueryWrapper<LocCtg>()
+ .eq(LocCtg::getFlag, "CHARGE")
+ .eq(LocCtg::getStatus, 1));
+ if (locCtg == null) {
+ return;
+ }
+
+ //鑾峰彇鍏呯數浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, "CHARGE")
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return;
+ }
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getStatus, 1));
+ 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());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+ continue;
+ }
+
+ if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ int lev = Utils.getLev(currentLocNo);//鑾峰彇灏忚溅妤煎眰
+ //鎼滅储灏忚溅褰撳墠妤煎眰鍏呯數妗�
+ ArrayList<Loc> allChargeLoc = new ArrayList<>();
+ List<Loc> list1 = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocCtg, locCtg.getId())
+ .eq(Loc::getStatus, 1)
+ .eq(Loc::getLev, lev));
+ if (!list1.isEmpty()) {
+ allChargeLoc.addAll(list1);
+ }
+
+ //鎼滅储鍏朵粬妤煎眰鍏呯數妗�
+ List<Loc> list2 = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocCtg, locCtg.getId())
+ .eq(Loc::getStatus, 1)
+ .notIn(Loc::getLev, lev));
+ if (!list2.isEmpty()) {
+ allChargeLoc.addAll(list2);
+ }
+
+ //娌℃湁鎵惧埌鍏呯數妗�
+ if (allChargeLoc.isEmpty()) {
+ continue;
+ }
+
+ //閫夋嫨绌洪棽鍏呯數妗�
+ Loc chargeLoc = null;
+ for (Loc loc : allChargeLoc) {
+ // 鍒ゆ柇鍏呯數浣嶆槸鍚﹁鍗犵敤(杞﹁締浣嶇疆)
+ if (Utils.hasShuttleInLoc(loc.getLocNo(), device.getId())) {
+ continue;
+ }
+
+ // 鐩樼偣鍏呯數浣嶆槸鍚﹀瓨鍦ㄤ换鍔℃。
+ List<Task> tasks = taskService.hasChargeInLoc(loc.getLocNo());
+ if (!tasks.isEmpty()) {
+ continue;
+ }
+
+ chargeLoc = loc;
+ break;
+ }
+
+ if (chargeLoc == null) {
+ continue;//鏈壘鍒板厖鐢垫々
+ }
+
+ if (motionService.count(new LambdaQueryWrapper<Motion>()
+ .eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
+ .eq(Motion::getDevice, device.getDeviceNo())
+ .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
+ continue;
+ }
+
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
+
+ Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
+ if (taskCharge != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ String chargeLocNo = chargeLoc.getLocNo();
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE")));
+ task.setTaskSts(TaskStsType.NEW_CHARGE.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(null);
+ task.setDestSite(null);
+ task.setDestLoc(chargeLocNo);
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setHostId(device.getHostId());
+ task.setStatus(1);
+ task.setMemo("charge");
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateChargeMotion(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
+ if (!taskService.save(task)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", device.getDeviceNo());
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 婊＄數鍚庡洖鍒板緟鏈轰綅
+ */
+ public synchronized void loopShuttleToStandbyCauseCharge() {
+ Integer enoughPower = 90;
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "chargeMaxValue")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ enoughPower = Integer.parseInt(dict.getValue());
+ }
+
+ //鑾峰彇杩佺Щ浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, "MOVE")
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return;
+ }
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getStatus, 1));
+ 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());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleThread.isCharging()) {
+ continue;
+ }
+
+ if (!shuttleThread.isChargingCompleted()) {
+ continue;
+ }
+
+ //鏌ユ壘鍏呯數浠诲姟
+ Task chargeTask = taskService.getOne(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskSts, TaskStsType.CHARGE_WORKING.sts)
+ .eq(Task::getShuttleNo, device.getDeviceNo()));
+ if (chargeTask == null) {
+ continue;
+ }
+
+ //鍏呯數瀹屾垚
+ // 宸叉湁杩佺Щ浠诲姟
+ if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
+ continue;
+ }
+
+ //鑾峰彇閬胯浣嶇疆
+ String standByLocNo = shuttleDispatcher.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());
+
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
+ task.setTaskSts(TaskStsType.NEW_MOVE.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(null);
+ task.setDestSite(null);
+ task.setDestLoc(standByLocNo); // 閬胯浣嶇疆
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setHostId(device.getHostId());
+ task.setStatus(1);
+ task.setMemo("charge");
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);
+
+ if (!taskService.save(task)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+
+ chargeTask.setTaskSts(TaskStsType.COMPLETE_CHARGE.sts);
+ chargeTask.setIoTime(new Date());
+ taskService.updateById(chargeTask);
+ }
+ }
+
}
--
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