From c036b0582e39b53516d88f26df587b5a61c4b2f2 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 17 四月 2024 10:32:47 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java | 113 ++++++++++++++++++++++-----
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 106 ++++++++++++++++++++++++--
2 files changed, 186 insertions(+), 33 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 0cc5517..1135d69 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
@@ -6,32 +6,25 @@
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.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.DeviceCtgType;
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.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.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.core.service.MotionService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
/**
* Created by vincent on 2023/10/12
@@ -58,6 +51,8 @@
private BasShuttleService basShuttleService;
@Autowired
private TaskCtgService taskCtgService;
+ @Autowired
+ private ShuttleStandbyService shuttleStandbyService;
public ShuttleThread queryShuttleWhichConvenient(Task task, Integer liftNo) {
String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -138,6 +133,97 @@
return resThread;
}
+ public synchronized ShuttleThread searchIdleShuttle(Task task) {
+ String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
+ ShuttleThread resThread = null;
+ Integer finalDistance = ShuttleDispatcher.INF;
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+
+ for (Device device : list) {
+ 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;
+ }
+
+ //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
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
+
+ if (currentLocNo.equals(locNo)) {
+ resThread = shuttleThread;
+ break;
+ }
+
+ 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 {
+ Device recentTransferLift = Utils.getRecentTransferLift(locNo, Integer.parseInt(device.getDeviceNo()));
+ if (recentTransferLift == null) {
+ continue;
+ }
+
+ //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
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
+ currentLocNo
+ , targetLocNo
+ , NavigationMapType.NORMAL.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()));
+ if (!Cools.isEmpty(tasks)) {
+ currDistance += tasks.size() * WEIGHT;
+ }
+
+ if (currDistance < finalDistance) {
+ finalDistance = currDistance;
+ resThread = shuttleThread;
+ }
+ }
+
+ 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
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
index f1158fe..f3ad71a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
@@ -3,10 +3,16 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.asrs.entity.param.FlowLogicCodeParam;
+import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.utils.RedisUtil;
+import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import org.apache.commons.codec.digest.DigestUtils;
import org.apache.commons.codec.digest.Md5Crypt;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
@@ -15,44 +21,63 @@
@Component
public class FlowExecute {
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+
//鎵ц娴佺▼鍥�
public boolean execute(List<JSONObject> list) {
String currentId = list.get(0).getString("id");
- String listId = DigestUtils.md5Hex(JSON.toJSONString(list));
+ JSONObject devpType = list.get(0).getJSONObject("data").getJSONObject("devpType");
+ String staNo = devpType.getString("staNo");
+ //鎼滅储宸ヤ綔妗�
+ List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getOriginSite, staNo)
+ .eq(Task::getStatus, 1));
- while (currentId != null) {
- //鑾峰彇娴佺▼鍥�
- JSONObject flow = findFLow(list, currentId);
- if (flow == null) {
- break;
+ for (Task task : tasks) {
+ String redisKey = DigestUtils.md5Hex(JSON.toJSONString(list));
+
+ while (currentId != null) {
+ //鑾峰彇娴佺▼鍥�
+ JSONObject flow = findFLow(list, currentId);
+ if (flow == null) {
+ break;
+ }
+
+ //鎵ц
+ boolean result = executeFlow(task, flow, redisKey);
+
+ //鎵ц鍚庣画娴佺▼
+ if (Cools.isEmpty(flow.get("nextTrue")) && Cools.isEmpty(flow.get("nextFalse"))) {
+ break;//鏃犲悗缁祦绋�
+ }
+
+ //鏇存柊id
+ currentId = result ? flow.getString("nextTrue") : flow.getString("nextFalse");
}
- //鎵ц
- boolean result = executeFlow(flow, listId);
-
- //鎵ц鍚庣画娴佺▼
- if (Cools.isEmpty(flow.get("nextTrue")) && Cools.isEmpty(flow.get("nextFalse"))) {
- break;//鏃犲悗缁祦绋�
- }
-
- //鏇存柊id
- currentId = result ? flow.getString("nextTrue") : flow.getString("nextFalse");
+ System.out.println("鎵ц瀹屾垚");
+ redisUtil.del(redisKey);//閲婃斁缂撳瓨
}
-
- System.out.println("鎵ц瀹屾垚");
return true;
}
- private boolean executeFlow(JSONObject flow, String listId) {
+ private boolean executeFlow(Task task, JSONObject flow, String redisKey) {
System.out.println(flow.getString("id") + "琚墽琛�");
- String type = flow.getString("type");
+ JSONObject data = flow.getJSONObject("data");
+ String type = data.getString("type");
+ boolean result = false;
if (type.equals("devp")) {
-
+ result = executeDevpFlow(task, data, redisKey);
} else if (type.equals("shuttle")) {
-
+ result = executeShuttleFlow(task, data, redisKey);
}
- return true;
+ return result;
}
private JSONObject findFLow(List<JSONObject> list, String id) {
@@ -64,6 +89,48 @@
return null;
}
+ private boolean executeDevpFlow(Task task, JSONObject data, String redisKey) {
+ JSONObject devpType = data.getJSONObject("devpType");
+ String staNo = devpType.getString("staNo");
+ //鎼滅储宸ヤ綔
+
+ return true;
+ }
+
+ private boolean executeShuttleFlow(Task task, JSONObject data, String redisKey) {
+ JSONObject shuttleType = data.getJSONObject("shuttleType");
+ JSONArray shuttleOper = shuttleType.getJSONArray("shuttleOper");
+ for (Object object : shuttleOper) {
+ String oper = String.valueOf(object);
+ if (oper.equals("searchIdleShuttle")) {
+ //鎼滅储绌洪棽杞�
+ ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
+ if (shuttleThread == null) {
+ return false;
+ }
+ //瀛樺叆缂撳瓨
+ redisSet(redisKey, "shuttleDevice", shuttleThread.getDevice());
+ return true;
+ }
+ }
+
+ return true;
+ }
+
+ private boolean redisSet(String redisKey, String key, Object data) {
+ if (redisUtil.hasKey(redisKey)) {
+ Object obj = redisUtil.get(redisKey);
+ JSONObject object = JSON.parseObject(String.valueOf(obj));
+ object.put(key, data);
+ redisUtil.set(redisKey, JSON.toJSONString(object));
+ } else {
+ JSONObject object = new JSONObject();
+ object.put(key, data);
+ redisUtil.set(redisKey, JSON.toJSONString(object));
+ }
+ return true;
+ }
+
// private boolean executeFlow(List<Map<String, Object>> list) {
// for (Map<String, Object> map : list) {
// JSONObject data = (JSONObject) map.get("data");
--
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