From e49208f2514ccf950164a2d6d590d85f7cecb46a Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 07 六月 2024 16:26:28 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 304 +++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 235 insertions(+), 69 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
index 12beefa..1be358f 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
@@ -19,10 +19,7 @@
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
-import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
-import com.zy.asrs.wcs.core.utils.RedisUtil;
-import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
-import com.zy.asrs.wcs.core.utils.Utils;
+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.rcs.constant.DeviceRedisConstant;
@@ -31,6 +28,8 @@
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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.Component;
@@ -53,6 +52,10 @@
private ShuttleDispatcher shuttleDispatcher;
@Autowired
private ObjectMapper objectMapper;
+ @Autowired
+ private DictService dictService;
+ @Autowired
+ private ConveyorDispatcher conveyorDispatcher;
public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -277,77 +280,240 @@
}
int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠妤煎眰
- if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
- //璺戝簱缁撴潫
- shuttleProtocol.setMoveLoc(false);
- shuttleProtocol.setMoveType(0);
- shuttleProtocol.setXStart(0);
- shuttleProtocol.setXTarget(0);
- shuttleProtocol.setXCurrent(0);
- shuttleProtocol.setYStart(0);
- shuttleProtocol.setYTarget(0);
- shuttleProtocol.setYCurrent(0);
- return;
- }
if (shuttleProtocol.getMoveType() == 0) {//璺戣建閬�
- Integer xCurrent = shuttleProtocol.getXCurrent();
- if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
- shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ //鏍规嵁鍦板浘鏂瑰悜鍐冲畾璺憍鎴杫
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict == null) {
+ //璺戝簱缁撴潫
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
return;
}
+ String direction = dict.getValue();
- Integer yCurrent = shuttleProtocol.getYCurrent();
- String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
- Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
- .eq(Loc::getLocNo, locNo)
- .eq(Loc::getHostId, device.getHostId()));
- if (target == null) {
- shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
- return;
- }
-
-// if (!target.getLocSts().equals("O")) {
-// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
-// return;
-// }
-
- //璋冨害鍘荤洰鏍囦綅缃�
- if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
- shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
- } else {
- shuttleDispatcher.generateMoveTask(device, target.getLocNo());
- shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
- }
- } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
- ArrayList<String> locs = new ArrayList<>();
- for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
- String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
- locs.add(locNo);
- }
-
- List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
- .in(Loc::getLocNo, locs));
- if (locList.isEmpty()) {
- //绌哄簱浣�
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
- return;
- }
-
- Loc start = locList.get(0);
- Loc target = locList.get(locList.size() - 1);
- //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
- if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
- shuttleDispatcher.generateMoveTask(device, start.getLocNo());
- }else {
- //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
- if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
- }else {
- shuttleDispatcher.generateMoveTask(device, start.getLocNo());
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ if (direction.equals("y")) {//璺憍杞存柟鍚戯紝璺戝畬x杞村啀鍒囨崲y杞�
+ ArrayList<String> locs = new ArrayList<>();
+ for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
+ String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
+ locs.add(locNo);
}
+
+ List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocSts, LocStsType.O.val())
+ .in(Loc::getLocNo, locs));
+ if (locList.isEmpty()) {
+ //绌哄簱浣�
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+
+ Loc start = locList.get(0);
+ Loc target = locList.get(locList.size() - 1);
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
+ if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
+ shuttleDispatcher.generateMoveTask(device, start.getLocNo());
+ }else {
+ //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
+ shuttleDispatcher.generateMoveTask(device, target.getLocNo());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//鍒囨崲y杞�
+
+ if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+ }else {//璺憏杞存柟鍚戯紝璺戝畬y杞村啀鍒囨崲x杞�
+ ArrayList<String> locs = new ArrayList<>();
+ for (int i = shuttleProtocol.getYCurrent(); i <= shuttleProtocol.getYTarget(); i++) {
+ String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), i, lev);
+ locs.add(locNo);
+ }
+
+ List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocSts, LocStsType.O.val())
+ .in(Loc::getLocNo, locs));
+ if (locList.isEmpty()) {
+ //绌哄簱浣�
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+ Loc start = locList.get(0);
+ Loc target = locList.get(locList.size() - 1);
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
+ if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
+ shuttleDispatcher.generateMoveTask(device, start.getLocNo());
+ }else {
+ //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
+ shuttleDispatcher.generateMoveTask(device, target.getLocNo());
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//鍒囨崲x杞�
+
+ if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
+ //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+ }
+
+ } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
+ //鏍规嵁鍦板浘鏂瑰悜鍐冲畾璺憍鎴杫
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict == null) {
+ //璺戝簱缁撴潫
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ String direction = dict.getValue();
+
+ if (direction.equals("y")) {//璺憍杞存柟鍚戯紝璺戝畬x杞村啀鍒囨崲y杞�
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+
+ //鑾峰彇寰呰窇搴撲綅鍙�
+ String locNo = Utils.getLocNo(xCurrent, shuttleProtocol.getYCurrent(), lev);
+ Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, locNo)
+ .eq(Loc::getLocSts, LocStsType.O.val())
+ .eq(Loc::getHostId, device.getHostId()));
+ if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//搴撲綅涓嶅瓨鍦ㄦ垨灏忚溅宸插湪褰撳墠浣嶇疆
+ shuttleProtocol.setXCurrent(xCurrent + 1);
+ if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
+ //x杞磋窇瀹岋紝鍒囨崲y杞�
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+
+ if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+ return;
+ }
+
+ //璋冨害鍘诲簱浣�
+ Task task = shuttleDispatcher.generateMoveTask(device, locNo);
+ if (task == null) {
+ return;//璋冨害澶辫触
+ }
+
+ shuttleProtocol.setXCurrent(xCurrent + 1);
+ if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
+ //x杞磋窇瀹岋紝鍒囨崲y杞�
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+
+ if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+
+ }else {//璺憏杞存柟鍚戯紝璺戝畬y杞村啀鍒囨崲x杞�
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ //鑾峰彇寰呰窇搴撲綅鍙�
+ String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), yCurrent, lev);
+ Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, locNo)
+ .eq(Loc::getLocSts, LocStsType.O.val())
+ .eq(Loc::getHostId, device.getHostId()));
+ if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//搴撲綅涓嶅瓨鍦ㄦ垨灏忚溅宸插湪褰撳墠浣嶇疆
+ shuttleProtocol.setYCurrent(yCurrent + 1);
+ if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //y杞磋窇瀹岋紝鍒囨崲x杞�
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+
+ if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
+ //x杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+ }
+
+ //璋冨害鍘诲簱浣�
+ Task task = shuttleDispatcher.generateMoveTask(device, locNo);
+ if (task == null) {
+ return;//璋冨害澶辫触
+ }
+
+ shuttleProtocol.setYCurrent(yCurrent + 1);
+ if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //y杞磋窇瀹岋紝鍒囨崲x杞�
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+
+ if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
+ //x杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+ }
+
}
} else if (shuttleProtocol.getMoveType() == 2) {//姣嶈建閬撳惊鐜窇
Integer xCurrent = shuttleProtocol.getXCurrent();
--
Gitblit v1.9.1