From 0d04bc5d8080b82338302fba0a59fccff2eaedfc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 06 七月 2025 11:28:29 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 284 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 269 insertions(+), 15 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 19b2732..fd56853 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
@@ -9,17 +9,19 @@
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.NavigationMapType;
-import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.model.enums.*;
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.ShuttleProtocolStatusType;
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.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 org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -52,11 +54,16 @@
private TaskCtgService taskCtgService;
@Autowired
private ShuttleStandbyService shuttleStandbyService;
+ @Autowired
+ private DictService dictService;
public synchronized ShuttleThread searchIdleShuttle(Task task) {
String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
ShuttleThread resThread = null;
Integer finalDistance = ShuttleDispatcher.INF;
+
+ //妫�娴嬬洰鏍囨ゼ灞傝溅鏁伴噺鏄惁灏忎簬鍏佽鐨勬渶澶ф暟閲�
+ boolean checkDispatchMaxNum = checkDispatchMaxNum(Utils.getLev(locNo), task.getHostId());
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
@@ -76,6 +83,21 @@
if (!shuttleThread.isIdle()) {
continue;
+ }
+
+ BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
+ .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
+ .eq(BasShuttle::getHostId, device.getHostId()));
+ if (basShuttle == null) {
+ continue;//灏忚溅鍩虹鏁版嵁涓嶅瓨鍦�
+ }
+
+ if (!Cools.isEmpty(basShuttle.getDisableLev())) {
+ List<Integer> disableLev = JSON.parseArray(basShuttle.getDisableLev(), Integer.class);
+ //妫�鏌ュ皬杞︽槸鍚︾鐢ㄨ妤煎眰
+ if (disableLev.contains(Utils.getLev(locNo))) {
+ continue;//灏忚溅绂佺敤璇ユゼ灞傝烦杩囪杞�
+ }
}
//妫�娴嬫槸鍚﹀瓨鍦ㄥ厖鐢典换鍔�
@@ -98,10 +120,17 @@
if (currentLev == Utils.getLev(locNo)) {
targetLocNo = locNo;
}else {
- Device recentTransferLift = Utils.getRecentTransferLift(locNo, Integer.parseInt(device.getDeviceNo()));
- if (recentTransferLift == null) {
+ if (!checkDispatchMaxNum) {
+ News.info("{}浠诲姟锛寋}灞傦紝宸茬粡杈惧埌褰撳墠妤煎眰璋冨害杞﹁締鏈�澶у��", task.getTaskNo(), Utils.getLev(locNo));
continue;
}
+
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
+ LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
+ if (liftThread == null) {
+ continue;
+ }
+ Device recentTransferLift = liftThread.getDevice();
//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>()
@@ -130,7 +159,7 @@
}
// 鎸傝浇浠诲姟鏉冮噸
- List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()));
+ List<Task> tasks = taskService.selectWorkingByShuttle(Integer.valueOf(device.getDeviceNo()), null);
if (!Cools.isEmpty(tasks)) {
currDistance += tasks.size() * WEIGHT;
}
@@ -153,7 +182,7 @@
//鑾峰彇杩佺Щ浠诲姟绫诲瀷
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
- .eq(TaskCtg::getFlag, "MOVE")
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
.eq(TaskCtg::getStatus, 1));
if (taskCtg == null) {
return null;
@@ -198,6 +227,62 @@
return task;
}
+ //鐢熸垚鎵嬪姩鍙栨斁璐т换鍔�
+ public synchronized Task generateManuaTakeMoveTask(Device device, String sourceLocNo, String locNo) {
+ // 宸叉湁鎵嬪姩浠诲姟
+ if (taskService.selectManualWorking(Integer.valueOf(device.getDeviceNo())) != null) {
+ return null;
+ }
+
+ //鑾峰彇鎵嬪姩浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return null;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ return null;
+ }
+
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
+ task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(sourceLocNo);
+ task.setDestSite("takeMove");
+ task.setDestLoc(locNo);
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setStatus(1);
+ task.setMemo("manual");
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+ task.setRecordLoc("Y");//璁板綍搴撳瓨淇℃伅
+ task.setHostId(device.getHostId());
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", device.getDeviceNo());
+ return null;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), device.getHostId());
+
+ task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);
+
+ if (!taskService.save(task)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", device.getDeviceNo());
+ return null;
+ }
+
+ return task;
+ }
+
/**
* 鎼滅储閬胯搴撲綅锛岄�氳繃灏忚溅鍙峰拰鐩爣搴撲綅
*/
@@ -215,20 +300,24 @@
}
int lev = Utils.getLev(locNo);//褰撳墠妤煎眰
- JSONArray standbyLoc = JSON.parseArray(idleLoc);
- if (lev > standbyLoc.size()) {
+ List<String> standbyLoc = JSON.parseArray(idleLoc, String.class);
+ if (standbyLoc.isEmpty()) {
throw new CoolException("閬胯鏁版嵁寮傚父");
}
-
- Object object = standbyLoc.get(lev - 1);
- List<String> locs = JSON.parseArray(object.toString(), String.class);
- if (locs.isEmpty()) {
- throw new CoolException("閬胯鏁版嵁涓虹┖");
+ //鑾峰彇褰撳墠灞傞伩璁╀綅缃�
+ List<String> currentLevStandByLoc = new ArrayList<>();
+ for (String loc : standbyLoc) {
+ if (Utils.getLev(loc) == lev) {
+ currentLevStandByLoc.add(loc);
+ }
+ }
+ if (currentLevStandByLoc.isEmpty()) {
+ throw new CoolException("褰撳墠灞傛棤閬胯浣嶇疆");
}
Integer finalDistance = ShuttleDispatcher.INF;
String recentLoc = null;
- for (String loc : locs) {
+ for (String loc : currentLevStandByLoc) {
//褰撳墠绌挎杞﹀埌閬胯浣嶈绠�
List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
locNo
@@ -254,5 +343,170 @@
return recentLoc;
}
+ /**
+ * 鎼滅储鍙敤搴撲綅锛岄�氳繃灏忚溅鍙峰拰鐩爣搴撲綅
+ */
+ public String searchAvailableLocNo(Integer shuttleNo, Long hostId, String currentLocNo, List<String> locNos) {
+ BasShuttle basShuttle = basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
+ .eq(BasShuttle::getShuttleNo, shuttleNo)
+ .eq(BasShuttle::getHostId, hostId));
+ if (basShuttle == null) {
+ throw new CoolException("灏忚溅鍩虹鏁版嵁涓嶅瓨鍦�");
+ }
+
+ if (locNos.isEmpty()) {
+ throw new CoolException("褰撳墠灞傛棤閬胯浣嶇疆");
+ }
+
+ int lev = Utils.getLev(currentLocNo);
+
+ Integer finalDistance = ShuttleDispatcher.INF;
+ String recentLoc = null;
+ for (String loc : locNos) {
+ //褰撳墠绌挎杞﹀埌閬胯浣嶈绠�
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(
+ currentLocNo
+ , loc
+ , NavigationMapType.NORMAL.id
+ , Utils.getShuttlePoints(shuttleNo, lev)
+ );//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�
+ if (currDistance < finalDistance) {
+ finalDistance = currDistance;
+ recentLoc = loc;
+ }
+ }
+
+ if (recentLoc == null) {
+ throw new CoolException("鎼滅储閬胯浣嶇疆澶辫触");
+ }
+
+ return recentLoc;
+ }
+
+ /**
+ * 妫�娴嬬洰鏍囨ゼ灞傝溅鏁伴噺鏄惁灏忎簬鍏佽鐨勬渶澶ф暟閲�
+ * true: 灏忎簬鏈�澶ф暟閲� false: 澶т簬鎴栫瓑浜庢渶澶ф暟閲�
+ */
+ public boolean checkDispatchMaxNum(Integer lev, Long hostId) {
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "dispatchShuttleMaxNum"));
+ if (dict == null) {
+ return false;
+ }
+
+ int levCount = 0;//鐩爣妤煎眰杞﹁締鏁伴噺
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, hostId)
+ .eq(Device::getStatus, 1));
+
+ for (Device device : list) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ if (shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.OFFLINE){
+ continue;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
+ if (shuttleProtocol.getHasCharge()) {
+ continue;//鍏呯數涓�
+ }
+
+ levCount++;//鐩爣妤煎眰鏈夎溅锛屾暟閲忓鍔�
+ }
+ }
+
+ //鎼滅储鏄惁瀛樺湪鍓嶅線鐩爣妤煎眰鐨勫皬杞︾Щ鍔ㄥ伐浣滄。
+ for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
+ .in(Task::getTaskSts, TaskStsType.NEW_MOVE.sts, TaskStsType.ANALYZE_MOVE.sts, TaskStsType.EXECUTE_MOVE.sts, TaskStsType.COMPLETE_MOVE.sts))) {
+ if (task.getOriginLoc() == null || task.getDestLoc() == null) {
+ continue;
+ }
+
+ int sourceLev = Utils.getLev(task.getOriginLoc());//宸ヤ綔妗ｆ簮妤煎眰
+ int targetLev = Utils.getLev(task.getDestLoc());//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
+ if (sourceLev == targetLev) {
+ continue;//宸ヤ綔妗ｆゼ灞傚拰鐩爣妤煎眰鐩稿悓锛岃烦杩�
+ }
+
+ if (targetLev == lev) {
+ levCount++;//宸ヤ綔妗ｇ洰鏍囨ゼ灞傚拰瀹為檯妤煎眰鐩稿悓锛屾暟閲忓鍔�
+ continue;
+ }
+
+ }
+
+ //鎼滅储鏄惁瀛樺湪鍓嶅線鐩爣妤煎眰鐨勫皬杞﹀伐浣滄。
+ for (Task task : taskService.list(new LambdaQueryWrapper<Task>()
+ .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts, TaskStsType.ANALYZE_INBOUND.sts, TaskStsType.EXECUTE_INBOUND.sts, TaskStsType.COMPLETE_INBOUND.sts
+ , TaskStsType.NEW_OUTBOUND.sts, TaskStsType.ANALYZE_OUTBOUND.sts, TaskStsType.EXECUTE_OUTBOUND.sts, TaskStsType.COMPLETE_OUTBOUND.sts))) {
+
+ List<Motion> motions = motionService.list(new LambdaQueryWrapper<Motion>()
+ .eq(Motion::getTaskNo, task.getTaskNo())
+ .in(Motion::getMotionCtg, MotionCtgType.SHUTTLE_MOVE
+ , MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
+ , MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
+ , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
+ , MotionCtgType.SHUTTLE_MOVE_TO_LIFT
+ , MotionCtgType.SHUTTLE_MOVE_FROM_CONVEYOR
+ , MotionCtgType.SHUTTLE_MOVE_TO_CONVEYOR
+ , MotionCtgType.SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR
+ ));
+
+ boolean isUpdateLev = false;
+ for (Motion motion : motions) {
+ if (motion.getOrigin() == null || motion.getTarget() == null) {
+ continue;
+ }
+
+ int sourceLev = Utils.getLev(motion.getOrigin());//鍔ㄤ綔婧愭ゼ灞�
+ int targetLev = Utils.getLev(motion.getTarget());//鍔ㄤ綔鐩爣妤煎眰
+ if (sourceLev != targetLev) {
+ isUpdateLev = true;
+ break;
+ }
+ }
+
+ if(isUpdateLev) {
+ levCount++;//宸ヤ綔妗ｅ睘浜庤法灞備换鍔★紝灏忚溅褰掑睘浜庣洰鏍囨ゼ灞�
+ continue;
+ }
+
+ }
+
+ return levCount < Integer.parseInt(dict.getValue());
+ }
+ //鍒嗘瀽鍑哄簱璺緞寰呮満搴撲綅
+ public String analyzeOutPathWaitLoc(String startLoc, String targetLoc, Device shuttleDevice) {
+ //璁＄畻璺緞骞跺垎瑙ｆ垚涓ゆ鍔ㄤ綔
+ List<NavigateNode> nodeList = NavigateUtils.calc(startLoc, targetLoc, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(startLoc)));
+ if (nodeList == null) {
+ News.error("{} dash {} can't find navigate path!", startLoc, targetLoc);
+ return null;
+ }
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ if (data.size() <= 1) {
+ return null;//涓ょ偣涔嬮棿鍙湁涓�娈佃矾寰�
+ }
+
+ //鍙栧嚭鍊掓暟绗簩娈佃矾寰�
+ ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 2);
+ NavigateNode startNode = navigateNodes.get(0);
+ String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());
+ return lastPathStartLoc;
+ }
}
--
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