From 9c4da646aaefcd8476eb7a23a889b6af6cffab4e Mon Sep 17 00:00:00 2001 From: zjj <3272660260@qq.com> Date: 星期三, 09 十月 2024 10:45:06 +0800 Subject: [PATCH] # --- zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 413 +++++++++++++++++++++++++++++++++++++++++++++++++--------- 1 files changed, 349 insertions(+), 64 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 cddb6df..18d9451 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 @@ -1,27 +1,31 @@ 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; 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.core.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 java.util.List; +import java.util.*; /** * Created by vincent on 2023/10/12 @@ -38,8 +42,6 @@ private LiftDispatcher liftDispatcher; @Autowired private SnowflakeIdWorker snowflakeIdWorker; -// @Autowired -// private CommonService commonService; @Autowired private AnalyzeService analyzeService; @Autowired @@ -47,23 +49,24 @@ @Autowired private DeviceService deviceService; @Autowired - private DeviceTypeService deviceTypeService; + private BasShuttleService basShuttleService; + @Autowired + private TaskCtgService taskCtgService; + @Autowired + private ShuttleStandbyService shuttleStandbyService; + @Autowired + private DictService dictService; - public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) { + public synchronized ShuttleThread searchIdleShuttle(Task task) { String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc(); 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�"); - } + //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()); 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)); @@ -78,15 +81,30 @@ 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 int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠灞傞珮 @@ -97,10 +115,29 @@ break; } - String targetLocNo = LiftCodeType.getStandbyLocNo(liftNo, currentLev);//榛樿鍒版彁鍗囨満寰呮満浣� + 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 @@ -121,11 +158,11 @@ currDistance += 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; -// } + // 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; @@ -136,38 +173,286 @@ 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; -// } + //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; + } + + 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(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; + } + + /** + * 鎼滅储閬胯搴撲綅锛岄�氳繃灏忚溅鍙峰拰鐩爣搴撲綅 + */ + public String searchStandByLocNo(Integer shuttleNo, Long hostId, String locNo) { + 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�"); + } + + 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()) { + throw new CoolException("褰撳墠灞傛棤閬胯浣嶇疆"); + } + + Integer finalDistance = ShuttleDispatcher.INF; + String recentLoc = null; + for (String loc : currentLevStandByLoc) { + //褰撳墠绌挎杞﹀埌閬胯浣嶈绠� + List<NavigateNode> currentShuttlePath = NavigateUtils.calc( + locNo + , 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; + } + + int levCount = 0;//鐩爣妤煎眰杞﹁締鏁伴噺 + 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� + } + + levCount++;//鐩爣妤煎眰鏈夎溅锛屾暟閲忓鍔� + } + } + + //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) { + 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� + 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� + continue; + } + + } + + + return levCount < Integer.parseInt(dict.getValue()); + } } -- Gitblit v1.9.1