From 50435a81915932eda06b7f1afd48f9ff1ae84f19 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期四, 10 四月 2025 17:50:28 +0800
Subject: [PATCH] 1
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 414 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 312 insertions(+), 102 deletions(-)
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 18d9451..f8964a1 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
@@ -1,7 +1,6 @@
package com.zy.asrs.wcs.core.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,6 +23,7 @@
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
import java.util.*;
@@ -56,21 +56,129 @@
private ShuttleStandbyService shuttleStandbyService;
@Autowired
private DictService dictService;
+ @Autowired
+ private NavigateUtils navigateUtils;
- public synchronized ShuttleThread searchIdleShuttle(Task task) {
- String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
+ /**
+ * 璋冨害杞﹁締
+ */
+ public Device dispatchShuttle(Task task, String locNo) {
+ ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
+ ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+
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
+ HashMap<Integer, List<Device>> diffLevDeviceMap = new HashMap<>();
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 (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ if (shuttleLev == lev) {
+ currentLevDevices.add(device);
+ } else {
+ List<Device> devices = null;
+ if (diffLevDeviceMap.containsKey(shuttleLev)) {
+ devices = diffLevDeviceMap.get(shuttleLev);
+ } else {
+ devices = new ArrayList<>();
+ }
+ devices.add(device);
+ diffLevDeviceMap.put(shuttleLev, devices);
+ }
+ }
+
+ //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(diffLevDeviceMap, locNo, task);
+ }
+
+ if (resThread != null) {
+ if (resThread.getStatus().getCurrentLocNo().equals(locNo)) {
+ return resThread.getDevice();
+ }
+
+ Task result = generateMoveTask(resThread.getDevice(), locNo);
+ if (result != null) {
+ return resThread.getDevice();
+ }
+ }
+
+ News.info("{}鐩爣搴撲綅娌℃湁鎼滅储鍒板彲鐢ㄧ┛姊溅", locNo);
+ return null;
+ }
+
+ public synchronized ShuttleThread searchIdleShuttle(Task task) {
+ String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
+ ShuttleThread resThread = null;
+ 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
+ HashMap<Integer,List<Device>> diffLevDeviceMap = new HashMap<>();
+ 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 (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ if (shuttleLev == lev) {
+ currentLevDevices.add(device);
+ }else {
+ List<Device> devices = null;
+ if(diffLevDeviceMap.containsKey(shuttleLev)) {
+ devices = diffLevDeviceMap.get(shuttleLev);
+ }else {
+ devices = new ArrayList<>();
+ }
+ devices.add(device);
+ diffLevDeviceMap.put(shuttleLev, devices);
+ }
+ }
+ //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(diffLevDeviceMap, 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;
}
@@ -107,6 +215,12 @@
}
// 鏈夋病鏈夎鍏朵粬浠诲姟璋冨害
+ List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
+ if (!taskList.isEmpty()) {
+ continue;
+ }
+
+
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�
@@ -115,48 +229,19 @@
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ゼ灞傜殑鎻愬崌鏈哄彛璺濈
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
+ //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.calcWhiteList(
currentLocNo
- , targetLocNo
- , NavigationMapType.NORMAL.id
+ , locNo
+ , NavigationMapType.DFX.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;
}
- Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- // 涓嶅悓妤煎眰鏉冮噸
- if (currentLev != Utils.getLev(locNo)) {
- currDistance += WEIGHT;
- }
+ 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);
@@ -170,6 +255,117 @@
}
}
+ return resThread;
+ }
+
+ private synchronized ShuttleThread searchDiffLevShuttle(HashMap<Integer,List<Device>> devicesMap, 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 (Map.Entry<Integer, List<Device>> entry : devicesMap.entrySet()) {
+ Integer lev = entry.getKey();
+ List<Device> devices = entry.getValue();
+ 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
+ List<Task> taskList = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
+ if (!taskList.isEmpty()) {
+ continue;
+ }
+
+ 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
+ , NavigationMapType.DFX.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;
+ }
+
+ Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+ // 涓嶅悓妤煎眰鏉冮噸
+ if (currentLev != Utils.getLev(locNo)) {
+ currDistance += WEIGHT;
+ }
+
+ // 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;
+ }
+ }
+
+ if (resThread != null) {
+ break;
+ }
+ }
return resThread;
}
@@ -193,6 +389,11 @@
return null;
}
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return null;
+ }
+
Task task = new Task();
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
@@ -200,7 +401,7 @@
task.setTaskCtg(taskCtg.getId());
task.setPriority(10);
task.setOriginSite(null);
- task.setOriginLoc(null);
+ task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
task.setDestSite(null);
task.setDestLoc(locNo); // 杩佺Щ浣嶇疆
task.setIoTime(new Date());
@@ -284,9 +485,9 @@
}
/**
- * 鎼滅储閬胯搴撲綅锛岄�氳繃灏忚溅鍙峰拰鐩爣搴撲綅
+ * 鎼滅储鍙敤搴撲綅锛岄�氳繃灏忚溅鍙峰拰鐩爣搴撲綅
*/
- public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) {
+ public String searchAvailableLocNo(Integer shuttleNo, Long hostId, String currentLocNo, List<String> locNos) {
BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
.eq(BasShuttle::getShuttleNo, shuttleNo)
.eq(BasShuttle::getHostId, hostId));
@@ -294,33 +495,18 @@
throw new CoolException("灏忚溅鍩虹鏁版嵁涓嶅瓨鍦�");
}
- String idleLoc = basShuttle.getIdleLoc();
- if (Cools.isEmpty(idleLoc)) {
- throw new CoolException("灏忚溅閬胯鏁版嵁涓嶅瓨鍦�");
- }
-
- int lev = Utils.getLev(locNo);//褰撳墠妤煎眰
- List<String> standbyLoc = JSON.parseArray(idleLoc, String.class);
- if (standbyLoc.isEmpty()) {
- throw new CoolException("閬胯鏁版嵁寮傚父");
- }
- //鑾峰彇褰撳墠灞傞伩璁╀綅缃�
- List<String> currentLevStandByLoc = new ArrayList<>();
- for (String loc : standbyLoc) {
- if (Utils.getLev(loc) == lev) {
- currentLevStandByLoc.add(loc);
- }
- }
- if (currentLevStandByLoc.isEmpty()) {
+ if (locNos.isEmpty()) {
throw new CoolException("褰撳墠灞傛棤閬胯浣嶇疆");
}
+ int lev = Utils.getLev(currentLocNo);
+
Integer finalDistance = ShuttleDispatcher.INF;
String recentLoc = null;
- for (String loc : currentLevStandByLoc) {
+ for (String loc : locNos) {
//褰撳墠绌挎杞﹀埌閬胯浣嶈绠�
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
- locNo
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(
+ currentLocNo
, loc
, NavigationMapType.NORMAL.id
, Utils.getShuttlePoints(shuttleNo, lev)
@@ -329,7 +515,7 @@
continue;
}
- Integer currDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ Integer currDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
if (currDistance < finalDistance) {
finalDistance = currDistance;
recentLoc = loc;
@@ -353,7 +539,7 @@
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)
@@ -388,7 +574,7 @@
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
}
}
@@ -406,52 +592,76 @@
}
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
+ 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 startLoc;//涓ょ偣涔嬮棿鍙湁涓�娈佃矾寰勶紝鍦ㄨ捣鐐逛綅缃瓑寰�
+ }
+
+ //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;
+ }
+
+ //鑾峰彇灏忚溅鍧愭爣
+ public String findShuttleLocNo(Integer shuttleNo, Long hostId) {
+ Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getDeviceNo, shuttleNo)
+ .eq(Device::getHostId, hostId)
+ .eq(Device::getStatus, 1));
+ if(device == null) {
+ return null;
+ }
+
+ //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) {
+ return null;
+ }
+
+ return shuttleProtocol.getCurrentLocNo();
}
--
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