From daa2cec25875276f3462e09d102f9d2fd52a96e1 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期三, 18 三月 2026 16:03:43 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 330 ++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 302 insertions(+), 28 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index ccaa0ff..fd7d991 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -14,6 +14,7 @@
import com.zy.asrs.task.escalationParam.RgvTaskReportingParam;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
+import com.zy.asrs.utils.TaskDispatchPriorityUtil;
import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.common.CodeRes;
import com.zy.common.service.CommonService;
@@ -78,6 +79,18 @@
private boolean reportSwitch;
@Value("${wms.reportSwitchAuto}")
private boolean reportSwitchAuto;
+ @Value("${constant-parameters.priority.distance-threshold:10000}")
+ private Long priorityDistanceThreshold;
+ @Value("${constant-parameters.priority.weight.time:0.4}")
+ private Double priorityTimeWeight;
+ @Value("${constant-parameters.priority.weight.distance:0.4}")
+ private Double priorityDistanceWeight;
+ @Value("${constant-parameters.priority.weight.region:0.2}")
+ private Double priorityRegionWeight;
+ @Value("${constant-parameters.priority.region-values:}")
+ private String regionPriorityValues;
+ private volatile String cachedRegionPriorityRaw = "";
+ private volatile Map<Integer, Double> cachedRegionPriorityMap = new HashMap<>();
/*
* 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
@@ -207,38 +220,299 @@
* 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
*/
public synchronized void DevpTaskNoRun() {
-
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
- if (wrkMasts.isEmpty()) {
- return;
- }
- long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
- if (differenceInSeconds <= 1000) {
- return;
- }
-
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- return;
- }
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
- List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
- Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
- BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
- BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
- List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
-// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll, basDevpPositionsListUN);
- //涓嬪彂浠诲姟
-// taskDown(wrkMastLists);
- taskDown(wrkMastListAll);
+ dispatchTaskByFlow();
} catch (Exception e) {
- log.error("鑷姩涓嬪彂灏忚溅浠诲姟澶辫触锛屽紓甯革細" + e);
+ log.error("鑷姩涓嬪彂灏忚溅浠诲姟澶辫触锛屽紓甯革細{}", e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 娴佺▼鍥剧増: 浠诲姟姹犳寫浠诲姟骞朵笅鍙慠GV
+ * 鏃堕棿/璺濈/鍖哄煙鎸夋潈閲嶈绠楁渶缁堜紭鍏堢骇锛屽啀鎵ц涓嬪彂銆�
+ */
+ private void dispatchTaskByFlow() {
+ Date now = new Date();
+ List<WrkMast> taskPool = wrkMastService.selectList(
+ new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true)
+ );
+ if (taskPool.isEmpty()) {
+ return;
}
+ Date firstTaskTime = taskPool.get(0).getAppeTime() == null ? taskPool.get(0).getModiTime() : taskPool.get(0).getAppeTime();
+ if (firstTaskTime == null) {
+ return;
+ }
+ long oldestWaitMs = TimeCalculatorUtils.differenceInMilliseconds(firstTaskTime, now);
+ if (oldestWaitMs <= 1000) {
+ return;
+ }
+
+ List<BasDevpPosition> sitePositions = basDevpPositionService.selectList(
+ new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true)
+ );
+ if (sitePositions == null || sitePositions.isEmpty()) {
+ return;
+ }
+
+ Map<Integer, BasDevpPosition> siteMap = new HashMap<>();
+ for (BasDevpPosition site : sitePositions) {
+ siteMap.put(site.getDevNo(), site);
+ }
+
+ List<RgvRuntimeState> availableRgvs = loadAvailableRgvs();
+ if (availableRgvs.isEmpty()) {
+ return;
+ }
+ Map<Integer, RgvRuntimeState> rgvStateMap = new HashMap<>();
+ List<TaskDispatchPriorityUtil.RgvSnapshot> snapshots = new ArrayList<>();
+ for (RgvRuntimeState rgv : availableRgvs) {
+ if (rgv.protocol == null || rgv.protocol.getRgvPos() == null) {
+ continue;
+ }
+ rgvStateMap.put(rgv.shuttle.getRgvNo(), rgv);
+ snapshots.add(new TaskDispatchPriorityUtil.RgvSnapshot(rgv.shuttle.getRgvNo(), rgv.protocol.getRgvPos()));
+ }
+ if (snapshots.isEmpty()) {
+ return;
+ }
+
+ double[] weights = resolveWeights(taskPool.size(), snapshots.size());
+ List<TaskDispatchPriorityUtil.DispatchPlan> plans = TaskDispatchPriorityUtil.rankDispatchPlans(
+ taskPool,
+ siteMap,
+ snapshots,
+ parseRegionPriorityMap(),
+ now,
+ Math.max(1L, priorityDistanceThreshold == null ? 10000L : priorityDistanceThreshold),
+ Math.max(1L, perimeter == null ? 1L : perimeter),
+ weights[0],
+ weights[1],
+ weights[2]
+ );
+ if (plans.isEmpty()) {
+ return;
+ }
+
+ TaskDispatchPriorityUtil.DispatchPlan topPlan = plans.get(0);
+ WrkMast task = topPlan.getTask();
+ if (task == null || task.getSourceStaNo() == null) {
+ return;
+ }
+ BasDevpPosition source = siteMap.get(task.getSourceStaNo());
+ if (source == null) {
+ return;
+ }
+ RgvRuntimeState chosenRgv = rgvStateMap.get(topPlan.getRgvNo());
+ if (chosenRgv == null) {
+ return;
+ }
+
+ log.info("浠诲姟浼樺厛绾ц绠�: wrkNo={} rgvNo={} final={} (time={} distance={} region={}) distance={} inRange={}",
+ task.getWrkNo(),
+ topPlan.getRgvNo(),
+ topPlan.getFinalPriority(),
+ topPlan.getTimePriority(),
+ topPlan.getDistancePriority(),
+ topPlan.getRegionPriority(),
+ topPlan.getDistance(),
+ topPlan.isInRange());
+
+ if (topPlan.isInRange() && canFetchFromRoam(chosenRgv.protocol, source.getPlcPosition())) {
+ if (issueFetchTask(task, chosenRgv)) {
+ updateStePosition();
+ }
+ return;
+ }
+ issueRoamTask(chosenRgv, source.getPlcPosition());
+ }
+
+ private List<RgvRuntimeState> loadAvailableRgvs() {
+ List<RgvRuntimeState> result = new ArrayList<>();
+ List<BasCircularShuttle> shuttles = basCircularShuttleService.selectList(
+ new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true)
+ );
+ if (shuttles == null || shuttles.isEmpty()) {
+ return result;
+ }
+
+ for (BasCircularShuttle shuttle : shuttles) {
+ try {
+ if (shuttle.getStatus() != 0) {
+ continue;
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, shuttle.getRgvNo());
+ if (rgvThread == null) {
+ continue;
+ }
+ RgvProtocol protocol = rgvThread.getRgvProtocol();
+ if (!isAvailableRgv(protocol)) {
+ continue;
+ }
+ if (isRgvRunningTask(shuttle.getRgvNo())) {
+ continue;
+ }
+ result.add(new RgvRuntimeState(shuttle, protocol));
+ } catch (Exception ignore) {
+ }
+ }
+ return result;
+ }
+
+ private boolean isAvailableRgv(RgvProtocol protocol) {
+ return protocol != null
+ && protocol.getModeType() == RgvModeType.AUTO
+ && (protocol.getStatusType() == RgvStatusType.IDLE || protocol.getStatusType() == RgvStatusType.ROAM)
+ && protocol.getTaskNo1() == 0
+ && protocol.getRgvPosInt() != 0
+ && protocol.getAlarm() == 0;
+ }
+
+ private boolean isRgvRunningTask(Integer rgvNo) {
+ List<WrkMast> running = wrkMastService.selectList(
+ new EntityWrapper<WrkMast>().eq("rgv_no", rgvNo).eq("wrk_sts", 2L)
+ );
+ return running != null && !running.isEmpty();
+ }
+
+ private boolean canFetchFromRoam(RgvProtocol protocol, long sourcePos) {
+ if (protocol.getStatusType() != RgvStatusType.ROAM) {
+ return true;
+ }
+ if (protocol.getInstantaneousSpeed() == null || acceleration == null || acceleration == 0) {
+ return true;
+ }
+ double finalVelocity = 0.0;
+ double distance = (Math.pow(finalVelocity, 2) - Math.pow(protocol.getInstantaneousSpeed() / 60, 2)) / (2 * acceleration);
+ double threshold = distance * proportion + (protocol.getInstantaneousSpeed() / 60) * proportion * rgvDate;
+ double sourceDistance = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(sourcePos, protocol.getRgvPos(), perimeter);
+ return !(threshold > sourceDistance);
+ }
+
+ private boolean issueFetchTask(WrkMast task, RgvRuntimeState rgv) {
+ RgvCommand command = new RgvCommand();
+ command.setRgvNo(rgv.shuttle.getRgvNo());
+ command.setAckFinish1((short) 0);
+ command.setTaskNo1(task.getWrkNo().shortValue());
+ command.setTaskMode1(RgvTaskModeType.FETCH_PUT);
+ command.setSourceStaNo1(task.getSourceStaNo().shortValue());
+ command.setDestinationStaNo1(task.getStaNo().shortValue());
+ command.setCommand((short) 1);
+ command.setRgvSome(rgv.shuttle.getRgvSome() == 1 ? (short) 1 : (short) 0);
+
+ if (!MessageQueue.offer(SlaveType.Rgv, rgv.shuttle.getRgvNo(), new Task(2, command))) {
+ task.setLogErrTime(new Date());
+ task.setLogErrMemo("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={" + rgv.shuttle.getRgvNo() + "}===>璺宠繃");
+ wrkMastService.updateById(task);
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.shuttle.getRgvNo(), JSON.toJSON(command));
+ return false;
+ }
+
+ Date now = new Date();
+ task.setWrkSts(2L);
+ task.setRgvNo(rgv.shuttle.getRgvNo());
+ task.setAppeTime(now);
+ task.setCrnStrTime(now);
+ wrkMastService.updateById(task);
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔″彿={}锛宻ource={}锛宼arget={}",
+ rgv.shuttle.getRgvNo(), task.getWrkNo(), task.getSourceStaNo(), task.getStaNo());
+ return true;
+ }
+
+ private void issueRoamTask(RgvRuntimeState rgv, long sourcePos) {
+ if (rgv == null || rgv.protocol == null) {
+ return;
+ }
+ if (rgv.protocol.getStatusType() != RgvStatusType.IDLE) {
+ return;
+ }
+ long destination = getRoamDestination(sourcePos);
+ if (!MessageQueue.offer(SlaveType.Rgv, rgv.shuttle.getRgvNo(), new Task(5, destination))) {
+ log.error("RGV婕父浠诲姟涓嬪彂澶辫触锛孯GV鍙�={}锛岀洰鐨勫湴={}", rgv.shuttle.getRgvNo(), destination);
+ return;
+ }
+ log.info("RGV婕父浠诲姟涓嬪彂鎴愬姛锛孯GV鍙�={}锛岀洰鐨勫湴={}", rgv.shuttle.getRgvNo(), destination);
+ }
+
+ private long getRoamDestination(long sourcePos) {
+ long destination = sourcePos - taskRunPerimeter + 10000;
+ if (destination > perimeter) {
+ return 10000L;
+ }
+ if (destination <= 0) {
+ destination = perimeter + destination;
+ }
+ return destination;
+ }
+
+ private Map<Integer, Double> parseRegionPriorityMap() {
+ String raw = regionPriorityValues == null ? "" : regionPriorityValues.trim();
+ if (raw.equals(cachedRegionPriorityRaw)) {
+ return cachedRegionPriorityMap;
+ }
+ Map<Integer, Double> regionMap = new HashMap<>();
+ if (raw.isEmpty()) {
+ cachedRegionPriorityRaw = raw;
+ cachedRegionPriorityMap = regionMap;
+ return regionMap;
+ }
+ String[] items = raw.split(",");
+ for (String item : items) {
+ if (item == null || item.trim().isEmpty()) {
+ continue;
+ }
+ String[] pair = item.split(":");
+ if (pair.length != 2) {
+ continue;
+ }
+ try {
+ Integer region = Integer.valueOf(pair[0].trim());
+ Double priority = Double.valueOf(pair[1].trim());
+ if (priority > 1D) {
+ priority = 1D;
+ } else if (priority < -1D) {
+ priority = -1D;
+ }
+ regionMap.put(region, priority);
+ } catch (Exception ignore) {
+ }
+ }
+ cachedRegionPriorityRaw = raw;
+ cachedRegionPriorityMap = regionMap;
+ return regionMap;
+ }
+
+ private double[] resolveWeights(int pendingTaskCount, int availableRgvCount) {
+ double timeW = priorityTimeWeight == null ? 0.4D : priorityTimeWeight;
+ double distanceW = priorityDistanceWeight == null ? 0.4D : priorityDistanceWeight;
+ double regionW = priorityRegionWeight == null ? 0.2D : priorityRegionWeight;
+
+ double capacity = Math.max(1D, availableRgvCount * 2D);
+ double loadFactor = Math.min(1D, pendingTaskCount / capacity);
+ if (loadFactor > 0.7D) {
+ timeW = Math.min(0.55D, timeW + 0.10D);
+ distanceW = Math.max(0.10D, distanceW - 0.05D);
+ } else if (loadFactor < 0.4D) {
+ timeW = Math.max(0.25D, timeW - 0.05D);
+ distanceW = Math.min(0.55D, distanceW + 0.05D);
+ }
+
+ double sum = Math.abs(timeW) + Math.abs(distanceW) + Math.abs(regionW);
+ if (sum <= 0D) {
+ return new double[]{0.4D, 0.4D, 0.2D};
+ }
+ return new double[]{timeW / sum, distanceW / sum, regionW / sum};
+ }
+
+ private static class RgvRuntimeState {
+ private final BasCircularShuttle shuttle;
+ private final RgvProtocol protocol;
+
+ private RgvRuntimeState(BasCircularShuttle shuttle, RgvProtocol protocol) {
+ this.shuttle = shuttle;
+ this.protocol = protocol;
+ }
}
//鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
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