From 7635dc25bd2a4d565df496b2d96354639966768d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 25 九月 2025 11:09:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 218 +++++++++++++++++++++---------------------------------
1 files changed, 86 insertions(+), 132 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index 2600041..9fbfdbe 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -5,27 +5,25 @@
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.ShuttleGatherResult;
+import com.zy.asrs.domain.param.ShuttleDemoParam;
import com.zy.asrs.domain.param.ShuttleGatherParam;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.ForkLiftUtils;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
-import com.zy.core.model.ForkLiftSlave;
-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.ShuttleThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -42,8 +40,6 @@
public class ShuttleDispatchUtils {
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private WrkMastService wrkMastService;
@Autowired
private CommonService commonService;
@@ -53,6 +49,8 @@
private ConfigService configService;
@Autowired
private BasShuttleService basShuttleService;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
/**
* 璋冨害杞﹁締-璋冨害鎸囧畾绌挎杞�
@@ -68,15 +66,17 @@
ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
continue;
}
- if (checkChargeWrk(shuttle.getId())) {
+ if (checkChargeWrk(device.getDeviceNo())) {
continue;//瀛樺湪鍏呯數浠诲姟锛岃繃婊ゅ皬杞�
}
@@ -84,7 +84,7 @@
continue;//灏忚溅蹇欑涓�
}
- BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
+ BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", device.getDeviceNo()));
if (basShuttle != null) {
if (basShuttle.getStatus() == 0) {
continue;//灏忚溅琚鐢�
@@ -125,7 +125,7 @@
//褰撳墠绌挎杞﹀簱浣嶅彿
String currentLocNo = shuttleProtocol.getCurrentLocNo();
//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);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
if (currentShuttlePath == null) {
continue;
}
@@ -168,8 +168,9 @@
//褰撳墠绌挎杞﹀簱浣嶅彿
String currentLocNo = shuttleProtocol.getCurrentLocNo();
int currentLev = Utils.getLev(currentLocNo);
- List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚︽湁寰呭垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欎笉鍒嗛厤杩欒締杞�
- int shuttleCount = this.getShuttleCountByLev(currentLev);//鑾峰彇绌挎杞︽ゼ灞傝溅杈嗘暟閲�
+ //鍒ゆ柇褰撳墠妤煎眰鏄惁鏈変换鍔★紝濡傛灉鏈夊垯涓嶅垎閰嶈繖杈嗚溅
+ List<WrkMast> wrkMasts1 = wrkMastService.selectWrkByLev(currentLev);
+ int shuttleCount = this.getShuttleEnableUseCountByLev(currentLev);//鑾峰彇绌挎杞︽ゼ灞傝溅杈嗘暟閲�
if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
//瀛樺湪鍏朵粬浠诲姟涓斿彲鐢ㄥ皬杞︽暟閲忓皬浜庣瓑浜�1锛岃烦杩囪繖杈嗚溅
continue;
@@ -222,6 +223,11 @@
return false;
}
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ News.info("{}鍙峰皬杞︼紝绉诲姩鐩爣浣嶇疆涓庡皬杞﹀綋鍓嶄綅缃竴鑷存棤娉曠Щ鍔�", shuttleNo);
+ return false;
+ }
+
//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�
@@ -246,27 +252,6 @@
}
}
- 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�
- }
-
// 鑾峰彇宸ヤ綔鍙�
int workNo = commonService.getWorkNo(WrkIoType.SHUTTLE_MOVE.id);
// 淇濆瓨宸ヤ綔妗�
@@ -279,8 +264,6 @@
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.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);
@@ -329,6 +312,25 @@
}
/**
+ * 灏忚溅婕旂ず
+ */
+ public void shuttleDemo(ShuttleDemoParam param) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle))
+ .in("device_no", param.getShuttleNos())
+ );
+
+ for (DeviceConfig device : shuttleList) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ shuttleThread.enableDemo(param.getStatus() == 1);
+ }
+ }
+
+ /**
* 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�
*/
@@ -340,10 +342,12 @@
return false;
}
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
int levCount = 0;//鐩爣妤煎眰杞﹁締鏁伴噺
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ for (DeviceConfig device : shuttleList) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
continue;
@@ -396,101 +400,17 @@
}
/**
- * 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;
- }
-
- //鍒ゆ柇褰撳墠灞傛槸鍚︽棤鎵樼洏
- if (forkLiftStaProtocol.getHasTray()) {
- continue;
- }
-
- if (forkLiftStaProtocol.getHasCar()) {
- 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�
- }
-
- if (targetLiftStaProtocol.getHasCar()) {
- continue;
- }
-
- 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�
*/
public boolean checkChargeWrk(int shuttleNo) {
//鍒ゆ柇鏄惁鏈夊厖鐢典换鍔℃鍦ㄤ娇鐢ㄧ┛姊溅
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleNo);
if (wrkMast != null) {
+ if (wrkMast.getMemo().equals("suggestCharge")) {
+ wrkMast.setMemo("suggestChargeTaskStop");//鏂紑鍏呯數
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ }
return true;//鏈夊厖鐢典换鍔�
}
return false;//鏃犲厖鐢典换鍔�
@@ -499,11 +419,13 @@
/**
* 鑾峰彇妤煎眰鍙敤灏忚溅鏁伴噺
*/
- public int getShuttleCountByLev(int lev) {
+ public int getShuttleEnableUseCountByLev(int lev) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
int count = 0;
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ for (DeviceConfig device : shuttleList) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
@@ -513,7 +435,7 @@
continue;
}
- if (checkChargeWrk(slave.getId())) {
+ if (checkChargeWrk(device.getDeviceNo())) {
continue;//瀛樺湪鍏呯數浠诲姟锛岃繃婊ゅ皬杞�
}
@@ -530,4 +452,36 @@
return count;
}
+ /**
+ * 鑾峰彇妤煎眰灏忚溅鏁伴噺
+ */
+ public int getShuttleCountByLev(int lev) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ int count = 0;
+ for (DeviceConfig device : shuttleList) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) == lev) {
+ //鍚屼竴妤煎眰鍙敤灏忚溅
+ count++;
+ continue;
+ }
+ }
+ return count;
+ }
+
}
--
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