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 | 140 +++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 125 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 1226aa3..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 +9,16 @@
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.TaskCtgType;
-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;
@@ -126,10 +125,12 @@
continue;
}
- Device recentTransferLift = Utils.getRecentTransferLift(locNo, Integer.parseInt(device.getDeviceNo()));
- if (recentTransferLift == null) {
+ //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>()
@@ -158,7 +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;
}
@@ -299,23 +300,72 @@
}
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
+ , 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;
+ }
+
+ /**
+ * 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)
@@ -365,6 +415,9 @@
if (shuttleProtocol == null) {
continue;
}
+ if (shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.OFFLINE){
+ continue;
+ }
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
if (shuttleProtocol.getHasCharge()) {
@@ -395,8 +448,65 @@
}
+ //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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