From 81188cbe3d51e951ce4c853edb886272a4eb51a3 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 11 十二月 2024 15:59:00 +0800
Subject: [PATCH] #path similarity
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 108 ++++++++++++++----------------------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java | 59 +++++++++++++++++++
2 files changed, 101 insertions(+), 66 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 d484864..f3e8394 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
@@ -109,14 +109,6 @@
return false;
}
- Double similarityRef = 0.9D;
- Dict similarityRefDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
- .eq(Dict::getFlag, "similarityRef")
- .eq(Dict::getStatus, 1));
- if (similarityRefDict != null) {
- similarityRef = Double.parseDouble(similarityRefDict.getValue());
- }
-
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
assignCommand.setTaskNo(motion.getTaskNo());
@@ -130,10 +122,6 @@
LiftThread liftThread = null;
LiftProtocol liftProtocol = null;
- String movePath = null;
- List<NavigateNode> originPath = null;
- List<NavigateNode> finalPath = null;
- Double similarity = null;
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case SHUTTLE_MOVE:
@@ -146,15 +134,8 @@
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
break;
@@ -168,15 +149,8 @@
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
if (motion.getReleaseLift() == 2) {//鎵ц涓噴鏀炬彁鍗囨満
@@ -220,15 +194,8 @@
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
break;
@@ -236,15 +203,8 @@
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
@@ -253,15 +213,8 @@
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
@@ -373,15 +326,8 @@
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);
- movePath = motion.getMovePath();
- if (!Cools.isEmpty(movePath)) {
- originPath = JSON.parseArray(movePath, NavigateNode.class);
- finalPath = assignCommand.getNodes();
- similarity = navigateUtils.similarityPath(originPath, finalPath);
- if(similarity <= similarityRef) {
- News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
- return false;
- }
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
}
//鏇存柊鍔ㄤ綔鍙敤寰呮満浣�
@@ -701,5 +647,35 @@
return commands;
}
+ private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
+ String movePath = motion.getMovePath();
+ if (Cools.isEmpty(movePath)) {
+ return false;
+ }
+
+ Double similarityRef = 0.9D;
+ Dict similarityRefDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "similarityRef")
+ .eq(Dict::getStatus, 1));
+ if (similarityRefDict != null) {
+ similarityRef = Double.parseDouble(similarityRefDict.getValue());
+ }
+
+ List<NavigateNode> originPath = JSON.parseArray(movePath, NavigateNode.class);
+ List<NavigateNode> finalPath = assignCommand.getNodes();
+
+ if (finalPath == null) {
+ return false;
+ }
+
+ Double similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if (similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+
+ return true;
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java
index 50f9538..af6aa85 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/LiftDispatcher.java
@@ -41,6 +41,65 @@
* 鏍规嵁鐩爣浣嶇疆鎼滅储绌洪棽鎻愬崌鏈�
* transfer: 鏄惁鍙崲灞�
*/
+ public LiftThread searchLift(String locNo, Long hostId, Boolean transfer) {
+ LiftThread recentLiftThread = null;
+ Integer finalDistance = Integer.MAX_VALUE;
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
+ .eq(Device::getHostId, hostId)
+ .eq(Device::getStatus, 1));
+ for (Device device : list) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
+ if (liftThread == null) {
+ continue;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ if (!liftThread.isIdle()) {
+ continue;
+ }
+
+ if (transfer) {
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getLiftNo, device.getDeviceNo()).eq(BasLift::getHostId, hostId));
+ if (basLift == null) {
+ continue;
+ }
+ if (basLift.getTransfer() != 1) {
+ continue;//鎻愬崌鏈鸿璁剧疆鎴愪笉鍙崲灞�
+ }
+ }
+
+ ShuttleStandby standby = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, device.getId())
+ .eq(ShuttleStandby::getDeviceLev, Utils.getLev(locNo))
+ .eq(ShuttleStandby::getStatus, 1));
+ if (standby == null) {
+ continue;
+ }
+
+ String liftLocNo = Utils.getLocNo(Utils.getRow(standby.getDeviceStandbyLoc()), Utils.getBay(standby.getDeviceStandbyLoc()), Utils.getLev(locNo));
+ List<NavigateNode> nodeList = navigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, null);
+ if (nodeList == null) {
+ continue;
+ }
+ Integer originPathAllDistance = navigateUtils.getOriginPathAllDistance(nodeList);//鎬昏窛绂�
+ if (originPathAllDistance < finalDistance) {
+ finalDistance = originPathAllDistance;
+ recentLiftThread = liftThread;
+ }
+ }
+
+ return recentLiftThread;
+ }
+
+ /**
+ * 鏍规嵁鐩爣浣嶇疆鎼滅储绌洪棽鎻愬崌鏈�
+ * transfer: 鏄惁鍙崲灞�
+ */
public LiftThread searchIdleLift(String locNo, Long hostId, Boolean transfer) {
LiftThread recentLiftThread = null;
Integer finalDistance = Integer.MAX_VALUE;
--
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