From bda52da89628d1587ab804510f9995c671a318ca Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期日, 07 四月 2024 14:49:19 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 181 ++++++++++++++++++++++++++++++++++----------
1 files changed, 138 insertions(+), 43 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..58d0e4b 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
@@ -1,14 +1,24 @@
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.BasShuttle;
+import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.entity.TaskCtg;
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.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.service.BasShuttleService;
+import com.zy.asrs.wcs.core.service.TaskCtgService;
import com.zy.asrs.wcs.core.service.TaskService;
+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;
@@ -21,6 +31,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import java.util.Date;
import java.util.List;
/**
@@ -48,6 +59,10 @@
private DeviceService deviceService;
@Autowired
private DeviceTypeService deviceTypeService;
+ @Autowired
+ private BasShuttleService basShuttleService;
+ @Autowired
+ private TaskCtgService taskCtgService;
public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -78,15 +93,15 @@
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;
-// }
+ //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
@@ -121,11 +136,11 @@
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()));
+ if (!Cools.isEmpty(tasks)) {
+ currDistance += tasks.size() * WEIGHT;
+ }
if (currDistance < finalDistance) {
finalDistance = currDistance;
@@ -136,38 +151,118 @@
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, "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;
+ }
+
+ //鑾峰彇閬胯浣嶇疆
+ String standByLocNo = this.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());
+
+ 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(standByLocNo); // 閬胯浣嶇疆
+ 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()));
+
+ 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;
+ }
+
+ /**
+ * 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
+ JSONArray standbyLoc = JSON.parseArray(idleLoc);
+ if (lev > standbyLoc.size()) {
+ throw new CoolException("閬胯鏁版嵁寮傚父");
+ }
+
+ Object object = standbyLoc.get(lev - 1);
+ List<String> locs = JSON.parseArray(object.toString(), String.class);
+ if (locs.isEmpty()) {
+ throw new CoolException("閬胯鏁版嵁涓虹┖");
+ }
+
+ Integer finalDistance = ShuttleDispatcher.INF;
+ String recentLoc = null;
+ for (String loc : locs) {
+ //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;
+ }
}
--
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