From b63790fa580ea78777f16bff6bc79373d675dd10 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 21 八月 2025 16:50:47 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 205 ++++++++++++++++++--------------------------------
1 files changed, 74 insertions(+), 131 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index 5e0d93c..18ec992 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;
}
@@ -170,7 +170,7 @@
int currentLev = Utils.getLev(currentLocNo);
//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.getShuttleCountByLev(currentLev);//鑾峰彇绌挎杞︽ゼ灞傝溅杈嗘暟閲�
+ 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;
@@ -247,27 +247,6 @@
}
}
- 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�
@@ -280,8 +259,6 @@
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);
@@ -330,6 +307,25 @@
}
/**
+ * 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�
*/
@@ -341,10 +337,12 @@
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;
@@ -397,95 +395,6 @@
}
/**
- * 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) {
@@ -500,11 +409,13 @@
/**
* 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;
}
@@ -514,7 +425,7 @@
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�
}
@@ -531,4 +442,36 @@
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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