From 8c75fbabe59e6d406e276736239afa3666ce4f0f Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期一, 14 十月 2024 10:56:51 +0800
Subject: [PATCH] #控制同时出库解析数量
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 252 ++++++++++++++++++++++----------------------------
1 files changed, 111 insertions(+), 141 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 402c46e..8fafb60 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
@@ -1,6 +1,5 @@
package com.zy.asrs.wcs.core.kernel.command;
-import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
@@ -10,10 +9,7 @@
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
-import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
-import com.zy.asrs.wcs.core.model.command.LiftCommand;
-import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
-import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
+import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
@@ -22,7 +18,6 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.core.entity.Motion;
-import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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.LiftProtocol;
@@ -61,6 +56,8 @@
private ShuttleAction shuttleAction;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -141,11 +138,11 @@
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -156,26 +153,15 @@
return true;
}
})) {
- //閿佸畾鎻愬崌鏈�
- List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
- shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
+
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
break;
case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
@@ -189,11 +175,11 @@
return false;
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -201,30 +187,16 @@
if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
- return true;
+ return true;//鐗涚溂娌℃湁鎻愬崌鏈洪攣锛岀洿鎺ヨ繑鍥瀟rue
}
})) {
- //閿佸畾鎻愬崌鏈�
- List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
- if (lockCommand == null) {
- return false;
- }
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -247,6 +219,10 @@
shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
+ shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
+ break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
}
@@ -261,7 +237,7 @@
if (motion.getOrigin() != null && motion.getTarget() != null) {
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
if (!lockResult) {
return false;//閿佸畾澶辫触
}
@@ -330,53 +306,24 @@
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
- if (liftThread.isLock(new ExecuteSupport() {
+ if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇灏忚溅鏄惁宸插埌浣�
- if (liftProtocol.getHasCar()) {
- List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
- if(signalCommand != null) {
- boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
- if (!hasKey) {
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(signalCommand);
- liftAssignCommand.setCommands(list);
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;
- }
- }
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ //鍒ゆ柇灏忚溅鏄惁宸插埌浣�
+ if (!liftProtocol.getHasCar()) {
+ return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
break;
case SHUTTLE_MOVE_FROM_LIFT:
liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
@@ -390,54 +337,24 @@
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
- if (liftThread.isLock(new ExecuteSupport() {
+ if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇灏忚溅鏄惁宸茬寮�
- if (!liftProtocol.getHasCar()) {
- List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//鑾峰彇灏忚溅宸查┚绂诲懡浠�
- if(signalCommand != null) {
- boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
- if (!hasKey) {
- redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), JSON.toJSONString(signalCommand), 120);
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(signalCommand);
- liftAssignCommand.setCommands(list);
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;
- }
- }
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ //鍒ゆ柇灏忚溅鏄惁宸茬寮�
+ if (liftProtocol.getHasCar()) {
+ return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
break;
case SHUTTLE_TRANSPORT_FROM_LIFT:
case SHUTTLE_TRANSPORT_TO_LIFT:
@@ -459,28 +376,24 @@
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.addAll(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
+ return false;
}
//鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
-
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ break;
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ if (!shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ if (shuttleProtocol.getHasLift()) {
+ return false;
}
break;
default:
@@ -536,5 +449,62 @@
return commands;
}
+ public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
+ NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
+ List<NavigateNode> unlockPath = new ArrayList<>();
+ unlockPath.add(startNode);
+ unlockPath.add(endNode);
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
+ if (!lockResult) {
+ News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
+ 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)));
+ if (nodeList == null) {
+ News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
+ return null;
+ }
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ for (NavigateNode node : nodeList) {
+ allNode.add(node.clone());
+ }
+
+ List<ShuttleCommand> commands = new ArrayList<>();
+ //鑾峰彇鍒嗘璺緞
+ 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�
+ NavigateNode startPath = nodes.get(0);
+
+ //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�
+ //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�
+ String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
+ command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
+ commands.add(command);
+ }
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+
+ return commands;
+ }
+
}
--
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