From d9cea3d7757a8d580bb0574d419ba6dd9c2478e7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 13 十二月 2024 15:11:50 +0800
Subject: [PATCH] #search shuttle
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 216 ++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 193 insertions(+), 23 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 d0725bc..ad64f8b 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
@@ -3,30 +3,31 @@
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.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
-import com.zy.asrs.wcs.core.entity.BasShuttle;
-import com.zy.asrs.wcs.core.entity.Loc;
-import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.NavigateNode;
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;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.*;
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.entity.Device;
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;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
-import com.zy.asrs.wcs.core.service.MotionService;
+import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
+import com.zy.asrs.wcs.rcs.thread.DevpThread;
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 lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -60,6 +61,16 @@
private LiftAction liftAction;
@Autowired
private LiftDispatcher liftDispatcher;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private DictService dictService;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -68,6 +79,8 @@
if (shuttleThread == null) {
return false;
}
+ Device shuttleDevice = shuttleThread.getDevice();
+
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (null == shuttleProtocol) {
return false;
@@ -89,6 +102,11 @@
.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
.eq(Motion::getDevice, motion.getDevice())
.eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
+ return false;
+ }
+
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
return false;
}
@@ -115,16 +133,91 @@
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ break;
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ if (motion.getReleaseLift() == 2) {//鎵ц涓噴鏀炬彁鍗囨満
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+
+ break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//鑾峰彇杈撻�佺珯鐐�
+ if (originStaObj == null) {
+ return false;
+ }
+
+ BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
+ if(basConveyor == null) {
+ return false;
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
+ if (devpThread == null) {
+ return false;
+ }
+ StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(motion.getDockNo()));//杈撻�佺珯
+ if (staProtocol == null) {
+ return false;
+ }
+ if (!(staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
+ return false;
+ }
+
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
break;
case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
@@ -164,7 +257,7 @@
// }
shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_OUT_LIFT;
break;
case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
// 鍒ゆ柇鎻愬崌鏈虹姸鎬�
@@ -200,16 +293,16 @@
// return false;
// }
- shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
break;
case SHUTTLE_CHARGE_ON://鍏呯數寮�
- shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_ON;
shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
- shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_OFF;
shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
assignCommand.setCharge(Boolean.TRUE);
break;
@@ -224,6 +317,21 @@
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;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
+
+ //鑾峰彇鍏ㄩ儴寰呮満浣�
+ List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
+ //鑾峰彇鍙敤寰呮満浣�
+ String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+
+ //鏇存柊鍔ㄤ綔鍙敤寰呮満浣�
+ motion.setTarget(shuttleFromLiftStandbyLoc);
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
@@ -297,6 +405,8 @@
case SHUTTLE_MOVE_DOWN_PALLET:
case SHUTTLE_MOVE_TO_CONVEYOR:
case SHUTTLE_MOVE_FROM_CONVEYOR:
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
return false;
}
@@ -412,6 +522,19 @@
return false;
}
break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//閲婃斁绌挎杞�
+ task.setShuttleNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+ break;
default:
break;
}
@@ -428,7 +551,7 @@
//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)));
+ 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;
@@ -441,7 +564,7 @@
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ 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�
@@ -449,7 +572,7 @@
//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�
+ 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�
@@ -481,11 +604,10 @@
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)));
+ 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;
@@ -498,7 +620,7 @@
List<ShuttleCommand> commands = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ 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�
@@ -506,7 +628,7 @@
//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�
+ 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�
@@ -522,5 +644,53 @@
return commands;
}
+ private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
+ String movePath = motion.getMovePath();
+ if (Cools.isEmpty(movePath)) {
+ return false;
+ }
+
+ Double similarityRef = 0.9D;
+ Dict similarityRefDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "similarityRef")
+ .eq(Dict::getStatus, 1));
+ if (similarityRefDict != null) {
+ similarityRef = Double.parseDouble(similarityRefDict.getValue());
+ }
+
+ List<NavigateNode> originPath = JSON.parseArray(movePath, NavigateNode.class);
+ List<NavigateNode> finalPath = assignCommand.getNodes();
+
+ if (finalPath == null) {
+ return false;
+ }
+
+ Double similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if (similarity <= similarityRef) {
+ Object object = redisUtil.get(DeviceRedisConstant.SIMILARITY_TIMES + motion.getTaskNo());
+ if (object == null) {
+ redisUtil.set(DeviceRedisConstant.SIMILARITY_TIMES + motion.getTaskNo(), System.currentTimeMillis(), 60 * 60 * 24);
+ }else {
+ long similarityTimeoutRef = 20L;//榛樿瓒呮椂20s
+ Dict similarityTimeoutDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "similarityTimeout")
+ .eq(Dict::getStatus, 1));
+ if (similarityTimeoutDict != null) {
+ similarityTimeoutRef = Long.parseLong(similarityTimeoutDict.getValue());
+ }
+
+ long recordTime = Long.parseLong(object.toString());
+ if (System.currentTimeMillis() - recordTime > (60 * similarityTimeoutRef)) {
+ //瓒呮椂锛岀洿鎺ユ斁琛�
+ return true;
+ }
+ }
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+
+ return true;
+ }
+
}
--
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