From 901f9ca15fb0ce3bcf2ebf956c569c260050c561 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期一, 07 四月 2025 13:10:54 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 652 +++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 568 insertions(+), 84 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 70f77a0..4bc441c 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
@@ -1,30 +1,31 @@
package com.zy.asrs.wcs.core.utils;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.asrs.common.wms.service.CommonService;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
-import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.NavigateNode;
-import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
-import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.model.enums.*;
+import com.zy.asrs.wcs.core.service.*;
+import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
-import com.zy.asrs.wcs.rcs.entity.DeviceType;
+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.service.DeviceService;
-import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
-import com.zy.asrs.wcs.rcs.service.MotionService;
+import com.zy.asrs.wcs.rcs.thread.LiftThread;
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 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.*;
/**
* Created by vincent on 2023/10/12
@@ -41,8 +42,6 @@
private LiftDispatcher liftDispatcher;
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
-// @Autowired
-// private CommonService commonService;
@Autowired
private AnalyzeService analyzeService;
@Autowired
@@ -50,27 +49,128 @@
@Autowired
private DeviceService deviceService;
@Autowired
- private DeviceTypeService deviceTypeService;
+ private BasShuttleService basShuttleService;
+ @Autowired
+ private TaskCtgService taskCtgService;
+ @Autowired
+ private ShuttleStandbyService shuttleStandbyService;
+ @Autowired
+ private DictService dictService;
+ @Autowired
+ private NavigateUtils navigateUtils;
- public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
- 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;
-
- DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
- .eq(DeviceType::getHostId, task.getHostId())
- .eq(DeviceType::getStatus, 1)
- .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
- if (deviceType == null) {
- throw new CoolException("璁惧绫诲瀷涓嶅瓨鍦�");
- }
-
+ int lev = Utils.getLev(locNo);
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
- .eq(Device::getDeviceType, deviceType.getId())
+ .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) {
+ 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;
+ }
+
+ 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;
}
@@ -81,17 +181,38 @@
continue;
}
- if (!shuttleProtocol.isIdle()) {
+ if (!shuttleThread.isIdle()) {
continue;
}
-// //妫�娴嬫槸鍚﹀瓨鍦ㄥ厖鐢典换鍔�
-// WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
-// if (wrkCharge != null) {
-// 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�
@@ -100,35 +221,25 @@
break;
}
- String targetLocNo = LiftCodeType.getStandbyLocNo(liftNo, currentLev);//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;
- }
-
- //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�
+ 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;
}
-
-// // 鎸傝浇浠诲姟鏉冮噸
-// List<Task> tasks = taskService.selectWorkingByShuttle(shuttle.getId());
-// if (!Cools.isEmpty(tasks)) {
-// currDistance += tasks.size() * WEIGHT;
-// }
if (currDistance < finalDistance) {
finalDistance = currDistance;
@@ -139,38 +250,411 @@
return resThread;
}
-// /**
-// * 鐢熸垚绌挎杞﹁縼绉讳换鍔�
-// */
-// public WrkCharge generateShuttleChargeWrkComplete(Integer shuttleNo, String locNo) {
-// WrkCharge wrkCharge = new WrkCharge();
-// wrkCharge.setShuttleNo(shuttleNo);
-// wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
-// wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
-// wrkCharge.setWrkSts(WrkMastStsType.NEW_MOVE.sts); // 杩佺Щ浠诲姟
-// wrkCharge.setIoType(WrkIoTypeType.MOVE.sts);
-// wrkCharge.setIoPri((double) 10);
-// wrkCharge.setLocNo(locNo);
-// wrkCharge.setMemo("reset");
-// wrkCharge.setAppeTime(new Date());
-//
-// // generate motion list
-// List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(wrkCharge);
-// 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!!!", shuttleNo);
-// return null;
-// }
-// motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
-//
-// wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_MOVE.sts);
-//
-// if (!wrkChargeService.insert(wrkCharge)) {
-// News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", shuttleNo);
-// return null;
-// }
-//
-// return wrkCharge;
-// }
+ 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;
+ }
+
+ //鐢熸垚杩佺Щ浠诲姟
+ public synchronized Task generateMoveTask(Device device, String locNo) {
+ // 宸叉湁杩佺Щ浠诲姟
+ if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
+ return null;
+ }
+
+ //鑾峰彇杩佺Щ浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return null;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ 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")));
+ task.setTaskSts(TaskStsType.NEW_MOVE.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
+ task.setDestSite(null);
+ task.setDestLoc(locNo); // 杩佺Щ浣嶇疆
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setHostId(device.getHostId());
+ task.setStatus(1);
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateShuttleMoveMotion(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());
+ return null;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());
+
+ 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());
+ return null;
+ }
+
+ return task;
+ }
+
+ //鐢熸垚鎵嬪姩鍙栨斁璐т换鍔�
+ public synchronized Task generateManuaTakeMoveTask(Device device, String sourceLocNo, String locNo) {
+ // 宸叉湁鎵嬪姩浠诲姟
+ if (taskService.selectManualWorking(Integer.valueOf(device.getDeviceNo())) != null) {
+ return null;
+ }
+
+ //鑾峰彇鎵嬪姩浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return null;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ return null;
+ }
+
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
+ task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(sourceLocNo);
+ task.setDestSite("takeMove");
+ task.setDestLoc(locNo);
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setStatus(1);
+ task.setMemo("manual");
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+ task.setRecordLoc("Y");//璁板綍搴撳瓨淇℃伅
+ task.setHostId(device.getHostId());
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", device.getDeviceNo());
+ return null;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());
+
+ task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);
+
+ if (!taskService.save(task)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", device.getDeviceNo());
+ return null;
+ }
+
+ return task;
+ }
+
+ /**
+ * 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 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));
+ if (basShuttle == null) {
+ throw new CoolException("灏忚溅鍩虹鏁版嵁涓嶅瓨鍦�");
+ }
+
+ 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 : locNos) {
+ //褰撳墠绌挎杞﹀埌閬胯浣嶈绠�
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(
+ currentLocNo
+ , loc
+ , NavigationMapType.NORMAL.id
+ , Utils.getShuttlePoints(shuttleNo, lev)
+ );//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�
+ if (currDistance < finalDistance) {
+ finalDistance = currDistance;
+ recentLoc = loc;
+ }
+ }
+
+ if (recentLoc == null) {
+ throw new CoolException("鎼滅储閬胯浣嶇疆澶辫触");
+ }
+
+ return recentLoc;
+ }
+
+ /**
+ * 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�
+ * true: 灏忎簬鏈�澶ф暟閲� false: 澶т簬鎴栫瓑浜庢渶澶ф暟閲�
+ */
+ public boolean checkDispatchMaxNum(Integer lev, Long hostId) {
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "dispatchShuttleMaxNum"));
+ if (dict == null) {
+ return false;
+ }
+
+ ArrayList<Integer> shuttleNos = new ArrayList<>();
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, hostId)
+ .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.OFFLINE)) {
+ continue;
+ }
+
+ if(!shuttleThread.isDeviceIdle()) {
+ continue;
+ }
+
+ if(shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
+ if (shuttleProtocol.getHasCharge()) {
+ continue;//鍏呯數涓�
+ }
+
+ shuttleNos.add(shuttleProtocol.getShuttleNo());//鐩爣妤煎眰鏈夎溅锛屾坊鍔犺繘list
+ }
+ }
+
+ //鎼滅储鏄惁瀛樺湪鍓嶅線鐩爣妤煎眰鐨勫皬杞︾Щ鍔ㄥ伐浣滄。
+ for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
+ .in(Task::getTaskSts, TaskStsType.NEW_MOVE.sts, TaskStsType.ANALYZE_MOVE.sts, TaskStsType.EXECUTE_MOVE.sts, TaskStsType.COMPLETE_MOVE.sts))) {
+ if (task.getOriginLoc() == null || task.getDestLoc() == null) {
+ continue;
+ }
+
+ int sourceLev = Utils.getLev(task.getOriginLoc());//宸ヤ綔妗ｆ簮妤煎眰
+ int targetLev = Utils.getLev(task.getDestLoc());//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
+ if (sourceLev == targetLev) {
+ continue;//宸ヤ綔妗ｆゼ灞傚拰鐩爣妤煎眰鐩稿悓锛岃烦杩�
+ }
+
+ if (targetLev == lev) {
+ //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))) {
+ 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 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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