From f23549bc50ae4d489c37d68c0f3b1456b7156ea8 Mon Sep 17 00:00:00 2001
From: gtsxc <3272660260@qq.com>
Date: 星期二, 10 十二月 2024 16:06:31 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 103 ++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 96 insertions(+), 7 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 3ff5556..d484864 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
@@ -3,6 +3,7 @@
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;
@@ -24,6 +25,8 @@
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;
@@ -63,6 +66,10 @@
private BasConveyorStaService basConveyorStaService;
@Autowired
private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private DictService dictService;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -102,6 +109,14 @@
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());
+ }
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
assignCommand.setTaskNo(motion.getTaskNo());
@@ -115,6 +130,10 @@
LiftThread liftThread = null;
LiftProtocol liftProtocol = null;
+ String movePath = null;
+ List<NavigateNode> originPath = null;
+ List<NavigateNode> finalPath = null;
+ Double similarity = null;
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case SHUTTLE_MOVE:
@@ -126,6 +145,18 @@
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ 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
@@ -136,6 +167,17 @@
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+ }
if (motion.getReleaseLift() == 2) {//鎵ц涓噴鏀炬彁鍗囨満
task.setLiftNo(0);
@@ -175,17 +217,53 @@
.eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
- shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ 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.MOVE_PALLET_LIFT;
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ 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.MOVE_PALLET_DOWN;
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+ }
+
shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
@@ -294,6 +372,17 @@
//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);
+
+ movePath = motion.getMovePath();
+ if (!Cools.isEmpty(movePath)) {
+ originPath = JSON.parseArray(movePath, NavigateNode.class);
+ finalPath = assignCommand.getNodes();
+ similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if(similarity <= similarityRef) {
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+ }
//鏇存柊鍔ㄤ綔鍙敤寰呮満浣�
motion.setTarget(shuttleFromLiftStandbyLoc);
@@ -519,7 +608,7 @@
//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;
@@ -532,7 +621,7 @@
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�
@@ -540,7 +629,7 @@
//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�
@@ -575,7 +664,7 @@
//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;
@@ -588,7 +677,7 @@
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�
@@ -596,7 +685,7 @@
//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�
--
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