From 3709a9295cf72fe531b954c14257a6a76cba9f21 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 02 八月 2023 08:38:58 +0800
Subject: [PATCH] 小车调度分离
---
src/main/java/com/zy/asrs/utils/Utils.java | 241 ++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 241 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index a08c7d4..041ec0a 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -3,7 +3,31 @@
import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.service.impl.MainServiceImpl;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.NavigateMapData;
+import com.zy.common.utils.NavigatePositionConvert;
+import com.zy.common.utils.NavigateUtils;
+import com.zy.core.Slave;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.ShuttleRunDirection;
+import com.zy.core.enums.ShuttleTaskModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.ShuttleSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.ShuttleAssignCommand;
+import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.NyShuttleThread;
+import com.zy.core.thread.ShuttleThread;
import java.text.DecimalFormat;
import java.util.ArrayList;
@@ -309,6 +333,26 @@
return staNo;
}
+ //鎻愬崌鏈轰綅缃弽棣堣浆鎹㈠嚭鍏ュ簱绔欑偣搴撲綅鍙�
+ public static String liftArrivalToOutInStaLocNo(Short liftArrival) {
+ String locNo = null;
+ switch (liftArrival) {
+ case 1:
+ locNo = "1800201";
+ break;
+ case 4:
+ locNo = "1800202";
+ break;
+ case 8:
+ locNo = "1800203";
+ break;
+ case 16:
+ locNo = "1800204";
+ break;
+ }
+ return locNo;
+ }
+
//妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰簱浣嶅彿
public static String levToOutInStaLocNo(Integer lev) {
String locNo = null;
@@ -368,4 +412,201 @@
return result;
}
+ //鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
+ public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ ArrayList<int[]> list = new ArrayList<>();
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ if (slave.getId().intValue() == whiteShuttle) {
+ continue;//璺宠繃鐧藉悕鍗�
+ }
+
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ continue;//妤煎眰涓嶅悓
+ }
+
+ int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
+ list.add(xyPosition);
+ }
+ return list;
+ }
+
+ //妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
+ boolean flag = false;
+ int shuttleX = -1;
+ int shuttleY = -1;
+ int shuttleZ = -1;
+
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+
+ if (nodes == null) {
+ return false;
+ }
+ if (nodes.size() == 0) {
+ return false;
+ }
+ NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());//鑾峰彇鍦板浘鏁版嵁
+ int[][] data = mapData.getData(-1, null, Utils.getShuttlePoints(shuttleId, nodes.get(0).getZ()));
+ for (NavigateNode node : nodes) {
+ int x = node.getX();
+ int y = node.getY();
+ if (data[x][y] == 66) {//鍒ゆ柇璇ヨ矾寰勬槸鍚︽湁灏忚溅
+ flag = true;//瀛樺湪灏忚溅
+ shuttleX = x;
+ shuttleY = y;
+ shuttleZ = node.getZ();
+ break;
+ }
+ }
+
+ if (flag) {
+ //妫�娴嬪埌璺緞瀛樺湪鍏朵粬灏忚溅
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬�
+
+ //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
+ Short shuttlePosition = NavigatePositionConvert.xyToPosition(shuttleX, shuttleY, shuttleZ);
+ LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttlePosition));
+
+ //鑾峰彇灏忚溅绾跨▼
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ ShuttleThread currentShuttleThread = null;
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentCode().intValue() == Integer.parseInt(shuttleLocMast.getQrCodeValue())) {
+ //灏忚溅鍧愭爣鍜岀嚎绋嬭幏鍙栫殑灏忚溅鍧愭爣涓�鑷�
+ currentShuttleThread = shuttleThread;
+ break;
+ }
+ }
+
+ if (currentShuttleThread == null) {
+ //娌℃壘鍒板皬杞�
+ return false;
+ }
+
+ ShuttleProtocol shuttleProtocol = currentShuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ return false;//琚皟搴︾殑灏忚溅澶勪簬宸ヤ綔鐘舵�侊紝绂佹瑙﹀彂閬胯浠诲姟
+ }
+
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId鎼滅储鏃堕渶瑕佹帓闄ょ殑杞﹁締id锛宑urrentShuttleThread鏄渶瑕佽璋冨害鐨勮溅杈嗙嚎绋�
+
+ if (assignCommand == null) {
+ return false;
+ }
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+
+ return false;
+ }
+
+ return true;
+ }
+
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰繑鍥炵Щ鍔ㄥ皬杞︾殑鍛戒护
+ public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
+ CommonService commonService = SpringUtils.getBean(CommonService.class);
+
+ if (shuttleThread == null) {
+ return null;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return null;
+ }
+
+ NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
+ int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//杞藉叆鍏ㄩ儴杞﹁締
+
+ int distY = -1;
+ int distX = -1;
+ int distZ = -1;
+ for (int y = 3; y <= 25; y++) {
+ boolean searchFlag = true;
+ for (int x = 20; x <= 23; x++) {
+ if (data[x][y] < 0 || data[x][y] == 66) {
+ searchFlag = false;//璇ュ贩閬撴湁绂佺敤鑺傜偣鎴栨湁灏忚溅
+ break;
+ }
+ }
+
+ if (searchFlag) {
+ //鎼滅储鍑虹┖宸烽亾
+ distY = y;
+ distX = 20;
+ distZ = z;
+ break;
+ }
+ }
+
+ if (distY != -1) {
+
+ //鑾峰彇閬胯鍧愭爣浜岀淮鐮�
+ Short distPosition = NavigatePositionConvert.xyToPosition(distX, distY, distZ);
+ LocMast distLocMast = locMastService.queryByQrCode(String.valueOf(distPosition));
+ if (distLocMast == null) {
+ return null;
+ }
+
+ if (startLocNo == null) {
+ //鑾峰彇灏忚溅鍧愭爣浜岀淮鐮�
+ LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttleProtocol.getCurrentCode()));
+ if (shuttleLocMast == null) {
+ return null;
+ }
+ startLocNo = shuttleLocMast.getLocNo();
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo((short) commonService.getWorkNo(7));//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.AVOID.id.shortValue());//閬胯浠诲姟
+ assignCommand.setSourceLocNo(startLocNo);//婧愬簱浣�
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(distLocMast.getLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(distLocMast.getLocNo());
+
+ //灏忚溅绉诲姩鍒扮洰鏍囦綅缃�
+ List<ShuttleCommand> commands = mainServiceImpl.shuttleAssignCommand(startLocNo, distLocMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ return null;
+ }
+
+// assignCommand.setCommands(commands);
+ return assignCommand;
+ }
+ return null;
+ }
+
}
--
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