From 4b5655eec16d6a6826705cceea46792a188272f7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 01 十二月 2023 16:17:01 +0800
Subject: [PATCH] #盘点逻辑
---
src/main/java/com/zy/asrs/utils/Utils.java | 649 +++++++++++++++++++++++++++++++++-------------------------
1 files changed, 366 insertions(+), 283 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index d862cba..8747c14 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,37 +1,33 @@
package com.zy.asrs.utils;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasShuttleService;
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.asrs.service.WrkMastService;
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.common.utils.ShuttleDispatchUtils;
+import com.zy.core.DevpThread;
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.DevpSlave;
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.ShuttleProtocol;
+import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.ShuttleThread;
+import com.zy.core.thread.NyShuttleThread;
import java.text.DecimalFormat;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
/**
* Created by vincent on 2020/8/27
@@ -39,10 +35,28 @@
public class Utils {
public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(1);add(2);add(3);add(4);
+ add(1);
}};
public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(5);add(6);add(7);add(8);add(9);add(10);add(11);
+ add(3);add(4);
+ }};
+ public static final List<Integer> THIRD_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(6);add(7);
+ }};
+ public static final List<Integer> FOURTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(8);
+ }};
+ public static final List<Integer> FIFTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(10);add(11);
+ }};
+ public static final List<Integer> SIXTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(13);add(14);add(15);add(16);
+ }};
+ public static final List<Integer> SEVENTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(13);add(14);
+ }};
+ public static final List<Integer> EIGHTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
+ add(16);
}};
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
@@ -71,21 +85,6 @@
public static Integer getGroupRow(String locNo, Boolean pakin){
int row = getRow(locNo);
return getGroupRow(row, pakin);
- }
-
- public static List<String> getGroupLocNo(String locNo){
- int row = getRow(locNo);
- List<String> result = new ArrayList<>();
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : FIRST_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : SECOND_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- }
- return result;
}
public static Integer getGroupRow(Integer row, Boolean pakin) {
@@ -267,151 +266,133 @@
return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
}
-
- /**
- * 褰撴绱㈠埌鍙屾繁搴撲綅鐨勬祬搴撲綅鏃讹紝濡傛灉娣卞簱浣嶆棤璐э紝鍒欐斁鍏ュ搴旂殑娣卞簱浣�
- */
- public static void toDeepIfEmptyByShallow(String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, 4);
- int targetRow = 0;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
- }
- String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
-
- }
-
public static String getLocNo(Number row, Number bay, Number lev) {
return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
}
- //鍑哄叆搴撶珯鐐瑰彿杞崲瀵瑰簲妤煎眰
- public static Integer outInStaNoToLev(Integer distSta) {
- Integer distLev = 1;//鐩爣妤煎眰
- switch (distSta) {
- case 102:
- distLev = 2;//杈撻�佺嚎妤煎眰
- case 105:
- distLev = 1;//涓�妤�
- case 106:
- distLev = 3;//浜屾ゼ
- case 107:
- distLev = 4;//涓夋ゼ
- case 108:
- distLev = 5;//鍥涙ゼ
- }
- return distLev;
- }
-
- //妤煎眰杞崲瀵瑰簲鍑哄叆搴撶珯鐐瑰彿
- public static Integer levToOutInStaNo(Integer lev) {
- Integer staNo = null;//绔欑偣鍙�
- switch (lev) {
- case 1:
- staNo = 105;
- break;
- case 2://杈撻�佺嚎灞�
- staNo = 105;
- break;
- case 3:
- staNo = 106;
- break;
- case 4:
- staNo = 107;
- break;
- case 5:
- staNo = 108;
- break;
- }
- 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;
- if (lev >= 2) {
- lev++;
- }
- switch (lev) {
- case 1:
- locNo = "1800201";
- break;
- case 3:
- locNo = "1800202";
- break;
- case 4:
- locNo = "1800203";
- break;
- case 5:
- locNo = "1800204";
- break;
- }
- return locNo;
- }
-
public static void main(String[] args) {
- System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
+ System.out.println(JSON.toJSONString(getGroupLoc("1606101")));
}
- // 澶栦晶鏂瑰悜鐨勮揣浣� 浼樺厛鍏ュ簱鏂瑰悜/浼樺厛鍑哄簱鏂瑰悜 ===>> 鍙嶄箣
- public static List<String> getGroupOutsideLoc(String locNo){
+ /**
+ * 鑾峰彇搴撲綅缁�
+ * @param locNo 搴撲綅鍙�
+ */
+ public static List<String> getGroupLoc(String locNo){
int row = getRow(locNo);
- List<String> result = new ArrayList<>();
+ int bay = getBay(locNo);
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FIRST_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
if (SECOND_GROUP_ROW_LIST.contains(row)) {
- for (Integer integer : SECOND_GROUP_ROW_LIST) {
- if (integer < row) {
- result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
- } else {
- break;
- }
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SECOND_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
}
- } else if (FIRST_GROUP_ROW_LIST.contains(row)) {
- List<Integer> clone = Arrays.asList(new Integer[FIRST_GROUP_ROW_LIST.size()]);
- Collections.copy(clone, FIRST_GROUP_ROW_LIST);
- Collections.reverse(clone);
- for (Integer integer : clone) {
- if (integer > row) {
- result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
- } else {
- break;
- }
- }
- } else {
-// throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ return result;
}
- if (!Cools.isEmpty(result)) {
+ if (THIRD_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : THIRD_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
Collections.reverse(result);
+ return result;
}
- return result;
+ if (FOURTH_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FOURTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (FIFTH_GROUP_ROW_LIST.contains(row)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : FIFTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ Collections.reverse(result);
+ return result;
+ }
+ if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SEVENTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : EIGHTH_GROUP_ROW_LIST) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ return result;
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ }
+
+ /**
+ * 鑾峰彇澶栦晶鏂瑰悜鐨勫簱浣嶇粍
+ * @param locNo 搴撲綅鍙�
+ */
+ public static List<String> getGroupOuterLoc(String locNo){
+ int row = getRow(locNo);
+ int bay = getBay(locNo);
+
+ //(1,3,4,10,11)娌℃湁澶栦晶鏂瑰悜搴撲綅缁�,(13,14,16)59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {//1鎺�
+ return new ArrayList<>();
+ }
+ if (SECOND_GROUP_ROW_LIST.contains(row)) {//3-4鎺�
+ return new ArrayList<>();
+ }
+ if (THIRD_GROUP_ROW_LIST.contains(row)) {//6-7鎺�
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : THIRD_GROUP_ROW_LIST) {
+ if (row0 < row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (FOURTH_GROUP_ROW_LIST.contains(row)) {//8鎺�
+ return new ArrayList<>();
+ }
+ if (FIFTH_GROUP_ROW_LIST.contains(row)) {//10-11鎺�
+ return new ArrayList<>();
+ }
+ if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {//13-16鎺�59-61鍒楀渚ф柟鍚戝簱浣嶇粍
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
+ if (row0 < row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//13-14鎺�59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//16鎺�59鍒椾箣鍐呮病鏈夊渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
}
//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) {
+ BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
ArrayList<int[]> list = new ArrayList<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
@@ -420,120 +401,53 @@
}
//鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
- if (shuttleProtocol.getLocNo() == null) {
- continue;
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ if (currentLocNo == null) {
+ //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle == null || basShuttle.getPoint() == null) {
+ continue;
+ }
+ NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
+ currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
}
- if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
+ if (lev != Utils.getLev(currentLocNo)) {
continue;//妤煎眰涓嶅悓
}
- int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getLocNo());//閫氳繃搴撲綅鍙疯幏鍙杧y鍧愭爣
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+ 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;
-
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
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;
- }
-
- //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);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
CommonService commonService = SpringUtils.getBean(CommonService.class);
+ ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
if (shuttleThread == null) {
- return null;
+ return false;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
- return null;
+ return false;
}
NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
@@ -542,9 +456,11 @@
int distY = -1;
int distX = -1;
int distZ = -1;
- for (int y = 3; y <= 25; y++) {
+ //鑾峰彇閬胯搴撲綅
+ String distLocNo = null;
+ for (int y = 20; y <= 56; y++) {
boolean searchFlag = true;
- for (int x = 20; x <= 23; x++) {
+ for (int x = 10; x <= 11; 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;
@@ -554,50 +470,217 @@
if (searchFlag) {
//鎼滅储鍑虹┖宸烽亾
distY = y;
- distX = 20;
+ distX = 11;
distZ = z;
+
+ //鑾峰彇閬胯搴撲綅
+ String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
+ LocMast distLocMast = locMastService.queryByLoc(locNo);
+ if (distLocMast == null) {
+ continue;
+ }
+
+ //鍒ゆ柇璇ュ簱浣嶆槸鍚﹀瓨鍦ㄥ伐浣滄。
+ EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
+ wrapper.eq("loc_no", locNo);
+ WrkMast wrkMast = wrkMastService.selectOne(wrapper);
+ if (wrkMast != null) {
+ continue;//瀛樺湪宸ヤ綔妗ｈ烦杩囪搴撲綅
+ }
+
+ distLocNo = locNo;
break;
}
}
- if (distY != -1) {
+ if (distLocNo != null) {
+ //璋冨害灏忚溅鍒伴伩璁╀綅缃�
+ return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
+ }
+ return false;
+ }
- //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;
+ //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ public static boolean checkLevHasShuttle(Integer lev) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
}
- 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;
+ if (lev == Utils.getLev(currentLocNo)) {
+ return true;//鎸囧畾妤煎眰鏈夌┛姊溅
+ }
+ }
+
+ return false;//鎸囧畾妤煎眰娌℃湁绌挎杞�
+ }
+
+ //妫�娴嬪簱浣嶇粍鏄惁瀛樺湪灏忚溅锛屽瓨鍦ㄨ繑鍥炲皬杞﹀彿銆�
+ public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
+ if (groupLoc == null) {
+ return null;
+ }
+
+ if (groupLoc.isEmpty()) {
+ return null;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ if (slaveProperties == null) {
+ return null;
+ }
+
+ for (String loc : groupLoc) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
}
- startLocNo = shuttleLocMast.getLocNo();
+
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
+ //瀛樺湪灏忚溅
+ return slave.getId();
+ }
}
+ }
- //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.MOVE_LOC_NO.id.shortValue());//绉诲姩鍒扮洰鏍囧簱浣�
- assignCommand.setSourceLocNo(startLocNo);//婧愬簱浣�
+ return null;
+ }
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(distLocMast.getLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(distLocMast.getLocNo());
+ //閫氳繃鎻愬崌鏈哄彿鍜屾ゼ灞傝幏鍙栧嚭鍏ュ簱妯″紡
+ public static Integer getOutInModelByLift(Integer liftNo, Integer lev) {
+ ArrayList<Integer> lev1 = new ArrayList<Integer>() {{
+ add(100);add(103);
+ add(105);
+ }};
+ ArrayList<Integer> lev2 = new ArrayList<Integer>() {{
+ add(200);add(203);
+ add(205);
+ }};
+ ArrayList<Integer> lev3 = new ArrayList<Integer>() {{
+ add(341);add(346);
+ }};
- //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) {
+ Integer staNo = null;
+ if (lev <= 4) {
+ staNo = lev1.get(liftNo - 1);
+ } else if (lev >= 5 && lev <= 7) {
+ staNo = lev2.get(liftNo - 1);
+ } else if ((lev >=8 && lev <= 10) && liftNo != 1) {
+ staNo = lev3.get(liftNo - 2);
+ }
+
+ if (staNo != null) {
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
return null;
}
- assignCommand.setCommands(commands);
- return assignCommand;
+ if (staNo == 100 || staNo == 200) {//1鍙锋彁鍗囨満100绔欏拰200绔欓粯璁ゅ叏鏄嚭搴撴ā寮�
+ return 2;//鍑哄簱妯″紡
+ }
+
+ if (staNo == 341) {
+ return 1;//341绔欓粯璁ゅ彧鑳藉叆搴撴ā寮�
+ }
+
+ if (staProtocol.getOutInModel() == null) {
+ return null;//娌℃湁鍑哄叆搴撲俊鍙�
+ }
+
+ return staProtocol.getOutInModel().intValue();
+ }
+ return null;
+ }
+
+ public static void wapperSetCondition(Wrapper wrapper, String column, String condition){
+ if(Cools.isEmpty(condition) || "null".equals(condition)){
+ wrapper.andNew().eq(column,"").or().isNull(column);
+ }else {
+ wrapper.eq(column,condition);
+ }
+ }
+
+ /**
+ * 鑾峰彇鍐呬晶鏂瑰悜鐨勫簱浣嶇粍
+ * @param locNo 搴撲綅鍙�
+ */
+ public static List<String> getGroupInnerLoc(String locNo){
+ int row = getRow(locNo);
+ int bay = getBay(locNo);
+
+ //(1,3,4,10,11)娌℃湁鍐呬晶鏂瑰悜搴撲綅缁�,(13,14,16)59鍒椾箣鍐呮病鏈夊唴渚ф柟鍚戝簱浣嶇粍
+ if (FIRST_GROUP_ROW_LIST.contains(row)) {//1鎺�
+ return new ArrayList<>();
+ }
+ if (SECOND_GROUP_ROW_LIST.contains(row)) {//3-4鎺�
+ return new ArrayList<>();
+ }
+ if (THIRD_GROUP_ROW_LIST.contains(row)) {//6-7鎺�
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : THIRD_GROUP_ROW_LIST) {
+ if (row0 > row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (FOURTH_GROUP_ROW_LIST.contains(row)) {//8鎺�
+ return new ArrayList<>();
+ }
+ if (FIFTH_GROUP_ROW_LIST.contains(row)) {//10-11鎺�
+ return new ArrayList<>();
+ }
+ if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {//13-16鎺�59-61鍒楀唴渚ф柟鍚戝簱浣嶇粍
+ List<String> result = new ArrayList<>();
+ for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
+ if (row0 > row) {
+ result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
+ }
+ }
+ return result;
+ }
+ if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//13-14鎺�59鍒椾箣鍐呮病鏈夊唴渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {//16鎺�59鍒椾箣鍐呮病鏈夊唴渚ф柟鍚戝簱浣嶇粍
+ return new ArrayList<>();
+ }
+ throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ }
+
+ /**
+ * 閫氳繃鍏ュ簱绔欑偣鍙疯幏鍙栨潯鐮佸櫒ID
+ */
+ public static Integer getBarcodeIdByStaNo(int staNo) {
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta sta : devpSlave.getInSta()) {
+ if (sta.getStaNo().equals(staNo)) {
+ return sta.getBarcode();
+ }
+ }
}
return null;
}
--
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