From 123a17c9d50745ea609f91943adca64e5ed12355 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期六, 12 四月 2025 09:08:14 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 148 +++++++++++++++---------------------------------
1 files changed, 47 insertions(+), 101 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index d76f41b..3c7c31d 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -1,9 +1,11 @@
package com.zy.core.dispatcher;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.ShuttleGatherResult;
+import com.zy.asrs.domain.param.ShuttleGatherParam;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
@@ -13,6 +15,7 @@
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.ForkLiftUtils;
+import com.zy.common.utils.LiftUtils;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
@@ -20,10 +23,12 @@
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.ForkLiftSlave;
+import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
+import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -51,6 +56,13 @@
private ConfigService configService;
@Autowired
private BasShuttleService basShuttleService;
+
+ /**
+ * 璋冨害杞﹁締-璋冨害鎸囧畾绌挎杞�
+ */
+ public boolean dispatchShuttle(Integer wrkNo, String sourceLocNo, String locNo, Integer shuttleNo, String flag) {
+ return shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
+ }
/**
* 璋冨害杞﹁締-璋冨害鎸囧畾绌挎杞�
@@ -201,6 +213,14 @@
*/
@Transactional
public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
+ return shuttleMoveGenerate(wrkNo, null, locNo, shuttleNo, null, false);
+ }
+
+ /**
+ * 灏忚溅杩佺Щ浠诲姟鐢熸垚
+ */
+ @Transactional
+ public boolean shuttleMoveGenerate(Integer wrkNo, String sourceLocNo, String locNo, Integer shuttleNo, String flag, boolean disableCheck) {
Date now = new Date();
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
@@ -222,7 +242,7 @@
//鍒ゆ柇绌挎杞︽槸鍚﹀瓨鍦ㄦ湭瀹屾垚鐨勫皬杞︾Щ搴撲换鍔�
WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(shuttleNo);
- if (hasMoveWorking != null) {//灏忚溅瀛樺湪绉诲簱浠诲姟锛岀瓑寰呮墽琛屽畬鎴愬悗鍐嶇敓鎴愭柊鐨勪换鍔�
+ if (hasMoveWorking != null && !disableCheck) {//灏忚溅瀛樺湪绉诲簱浠诲姟锛岀瓑寰呮墽琛屽畬鎴愬悗鍐嶇敓鎴愭柊鐨勪换鍔�
News.info("{}鍙峰皬杞︼紝瀛樺湪绉诲姩浠诲姟锛岀瓑寰呮墽琛屽畬鎴愬悗鍐嶇敓鎴愭柊鐨勪换鍔�", shuttleNo);
return false;
}
@@ -232,11 +252,11 @@
//鍒ゆ柇鏄惁鏈夊叾浠栦换鍔℃鍦ㄤ娇鐢ㄧ┛姊溅
WrkMast wrkMast2 = wrkMastService.selectShuttleWorking(shuttleNo);
- if (wrkMast2 != null) {//灏忚溅瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍚庡啀鐢熸垚鏂扮殑浠诲姟
+ if (wrkMast2 != null && !disableCheck) {//灏忚溅瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍚庡啀鐢熸垚鏂扮殑浠诲姟
if (mainWrkMast == null) {
News.info("{}鍙峰皬杞︼紝瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍐嶇敓鎴愭柊鐨勪换鍔�", shuttleNo);
return false;
- }else {
+ } else {
if (!mainWrkMast.getShuttleNo().equals(shuttleNo)) {
News.info("{}鍙峰皬杞︼紝瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍐嶇敓鎴愭柊鐨勪换鍔�", shuttleNo);
return false;
@@ -244,41 +264,24 @@
}
}
- Integer sourceStaNo = null;//灏忚溅鎹㈠眰婧愮珯鐐�
- Integer staNo = null;//灏忚溅鎹㈠眰鐩爣绔欑偣
- if (Utils.getLev(locNo) != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
- //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庝笉鍚屼竴妤煎眰锛岄渶瑕侀�氳繃鎻愬崌鏈鸿皟搴�
- //鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満杈撻�佺珯鐐�
- ForkLiftStaProtocol liftSta = this.getRecentLiftSta(shuttleNo, Utils.getLev(locNo));
- if (liftSta == null) {
- News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夊彲鐢ㄧ┖闂茶緭閫佺珯鐐�", shuttleNo, locNo);
- return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
- }
- sourceStaNo = liftSta.getStaNo();//婧愮珯鐐�
-
- ForkLiftStaProtocol targetLiftSta = ForkLiftUtils.getLiftStaByLev(liftSta.getLiftNo(), Utils.getLev(locNo));
- if (targetLiftSta == null) {
- News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夌洰鏍囩珯鐐�", shuttleNo, locNo);
- return false;//娌℃湁鎵惧埌鐩爣绔欑偣
- }
- //鐩爣绔欑偣
- staNo = targetLiftSta.getStaNo();//鐩爣绔�
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (sourceLocNo != null) {
+ currentLocNo = sourceLocNo;
}
// 鑾峰彇宸ヤ綔鍙�
int workNo = commonService.getWorkNo(WrkIoType.SHUTTLE_MOVE.id);
// 淇濆瓨宸ヤ綔妗�
WrkMast wrkMast = new WrkMast();
+ wrkMast.setMk(flag);
wrkMast.setWrkNo(workNo);
wrkMast.setIoTime(now);
wrkMast.setWrkSts(WrkStsType.NEW_MOVE.sts); // 宸ヤ綔鐘舵�侊細301.鐢熸垚杩佺Щ浠诲姟
wrkMast.setIoType(WrkIoType.SHUTTLE_MOVE.id); // 鍏ュ嚭搴撶姸鎬侊細 200.灏忚溅杩佺Щ
wrkMast.setIoPri(800D);
wrkMast.setShuttleNo(shuttleNo);//绌挎杞﹀彿
- wrkMast.setSourceLocNo(shuttleProtocol.getCurrentLocNo()); // 婧愬簱浣� => 灏忚溅褰撳墠搴撲綅鍙�
+ wrkMast.setSourceLocNo(currentLocNo); // 婧愬簱浣�
wrkMast.setLocNo(locNo); // 鐩爣搴撲綅
- wrkMast.setSourceStaNo(sourceStaNo);//婧愮珯
- wrkMast.setStaNo(staNo);//鐩爣绔�
wrkMast.setAppeTime(now);
wrkMast.setModiTime(now);
boolean res = wrkMastService.insert(wrkMast);
@@ -299,8 +302,15 @@
/**
* 灏忚溅闆嗗悎
*/
- public List<ShuttleGatherResult> shuttleGather() {
- List<BasShuttle> basShuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().eq("status", 1));
+ public List<ShuttleGatherResult> shuttleGather(ShuttleGatherParam param) {
+ Wrapper<BasShuttle> wrapper = new EntityWrapper<BasShuttle>().eq("status", 1);
+ if (param != null) {
+ if (!param.getShuttleNos().isEmpty()) {
+ wrapper.in("shuttle_no", param.getShuttleNos());
+ }
+ }
+
+ List<BasShuttle> basShuttles = basShuttleService.selectList(wrapper);
List<ShuttleGatherResult> list = new ArrayList<>();
for (BasShuttle basShuttle : basShuttles) {
String idleLoc = basShuttle.getIdleLoc();
@@ -340,6 +350,16 @@
continue;
}
+ //灏忚溅鏈夊厖鐢典换鍔�
+ if (shuttleThread.isCharging()) {
+ continue;
+ }
+
+ //灏忚溅鏁呴殰璺宠繃
+ if (shuttleThread.isFault()) {
+ continue;
+ }
+
String currentLocNo = shuttleProtocol.getCurrentLocNo();
if (currentLocNo == null) {
continue;
@@ -376,81 +396,7 @@
return levCount < Integer.parseInt(config.getValue());
}
- /**
- * 鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満杈撻�佺珯鐐�
- */
- public ForkLiftStaProtocol getRecentLiftSta(Integer shuttleNo, Integer targetLev) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- if (shuttleThread == null) {
- return null;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return null;
- }
- //鑾峰彇灏忚溅鍚屼竴妤煎眰鐨勭珯鐐�
- ArrayList<ForkLiftStaProtocol> list = new ArrayList<>();
- int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅妤煎眰
- for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
- if (forkLiftThread == null) {
- continue;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
- if (!forkLiftThread.isIdle()) {
- continue;
- }
-
- ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), lev);
- if (forkLiftStaProtocol == null) {
- continue;
- }
-
- //鍒ゆ柇鐩爣妤煎眰绔欑偣鏄惁鏃犳墭鐩�
- ForkLiftStaProtocol targetLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), targetLev);
- if (targetLiftStaProtocol == null) {
- continue;
- }
-
- if (targetLiftStaProtocol.getHasTray()) {
- continue;//鏈夋墭鐩樿烦杩�
- }
-
- list.add(forkLiftStaProtocol);
- }
-
- if (list.isEmpty()) {
- return null;
- }
-
- String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅浣嶇疆
- Integer recentAllDistance = 9999999;
- ForkLiftStaProtocol recentSta = null;//鏈�杩戠珯鐐�
- //鎼滅储璺濈灏忚溅鏈�杩戠殑绔欑偣
- for (ForkLiftStaProtocol forkLiftStaProtocol : list) {
- Integer staNo = forkLiftStaProtocol.getStaNo();//绔欑偣鍙�
- String locNo = forkLiftStaProtocol.getLocNo();//绔欑偣搴撲綅鍙�
-
- //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
- List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//浣跨敤姝ｅ父閫氶亾鍦板浘
- if (currentShuttlePath == null) {
- continue;
- }
- Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- if (currentAllDistance < recentAllDistance) {
- //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠珯鐐�
- recentSta = forkLiftStaProtocol;
- recentAllDistance = currentAllDistance;
- }
- }
-
- return recentSta;
- }
/**
* 妫�娴嬫槸鍚︾┛姊溅鏄惁鏈夊厖鐢典换鍔�
--
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