From d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb Mon Sep 17 00:00:00 2001 From: Junjie <xjj@123> Date: 星期二, 15 四月 2025 13:30:35 +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 5cb9061..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 @@ -3,6 +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; @@ -15,6 +16,7 @@ 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; 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; @@ -24,6 +26,8 @@ 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 +67,10 @@ private BasConveyorStaService basConveyorStaService; @Autowired private ShuttleDispatcher shuttleDispatcher; + @Autowired + private NavigateUtils navigateUtils; + @Autowired + private DictService dictService; // 璁$畻 public Boolean accept(Motion motion) { @@ -126,6 +134,11 @@ } shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); 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 @@ -136,6 +149,19 @@ } 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� @@ -166,17 +192,32 @@ .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; + + 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.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.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 @@ -510,7 +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; @@ -523,7 +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� @@ -531,7 +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$畻褰撳墠璺緞琛岃蛋鎬昏窛绂� //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId); //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� @@ -566,7 +607,7 @@ //鑾峰彇灏忚溅绉诲姩閫熷害 Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000); Long hostId = shuttleThread.getDevice().getHostId(); - List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo))); + List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo))); if (nodeList == null) { News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo); return null; @@ -579,7 +620,7 @@ List<ShuttleCommand> commands = new ArrayList<>(); //鑾峰彇鍒嗘璺緞 - ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList); + ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodeList); //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护 for (ArrayList<NavigateNode> nodes : data) { //寮�濮嬭矾寰� @@ -587,7 +628,7 @@ //鐩爣璺緞 NavigateNode endPath = nodes.get(nodes.size() - 1); - Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$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� @@ -603,5 +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; + } + } -- Gitblit v1.9.1