From df362cbfd8680f3d6291be6ca93d5a9c26510954 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 25 七月 2025 13:51:52 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 149 ++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 122 insertions(+), 27 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index d76f41b..a62c8e2 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -1,12 +1,17 @@
package com.zy.core.dispatcher;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
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;
@@ -22,7 +27,6 @@
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;
@@ -40,8 +44,6 @@
public class ShuttleDispatchUtils {
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private WrkMastService wrkMastService;
@Autowired
private CommonService commonService;
@@ -51,30 +53,34 @@
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�
*/
- public boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
+ public synchronized boolean dispatchShuttle(Integer wrkNo, String locNo, Integer shuttleNo) {
return shuttleMoveGenerate(wrkNo, locNo, shuttleNo);
}
/**
* 璋冨害杞﹁締
*/
- public boolean dispatchShuttle(Integer wrkNo, String locNo) {
+ public synchronized boolean dispatchShuttle(Integer wrkNo, String locNo) {
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�
}
@@ -82,7 +88,7 @@
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�
@@ -123,7 +129,7 @@
//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;
}
@@ -166,8 +172,9 @@
//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;
@@ -200,7 +207,7 @@
* 灏忚溅杩佺Щ浠诲姟鐢熸垚
*/
@Transactional
- public boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
+ public synchronized boolean shuttleMoveGenerate(Integer wrkNo, String locNo, Integer shuttleNo) {
Date now = new Date();
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
@@ -237,7 +244,7 @@
News.info("{}鍙峰皬杞︼紝瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍐嶇敓鎴愭柊鐨勪换鍔�", shuttleNo);
return false;
}else {
- if (!mainWrkMast.getShuttleNo().equals(shuttleNo)) {
+ if (!shuttleNo.equals(mainWrkMast.getShuttleNo())) {
News.info("{}鍙峰皬杞︼紝瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍐嶇敓鎴愭柊鐨勪换鍔�", shuttleNo);
return false;
}
@@ -299,8 +306,15 @@
/**
* 灏忚溅闆嗗悎
*/
- public List<ShuttleGatherResult> shuttleGather() {
- List<BasShuttle> basShuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().eq("status", 1));
+ public List<ShuttleGatherResult> shuttleGather(ShuttleGatherParam param) {
+ Wrapper<BasShuttle> wrapper = new EntityWrapper<BasShuttle>().eq("status", 1);
+ if (param != null) {
+ if (!param.getShuttleNos().isEmpty()) {
+ wrapper.in("shuttle_no", param.getShuttleNos());
+ }
+ }
+
+ List<BasShuttle> basShuttles = basShuttleService.selectList(wrapper);
List<ShuttleGatherResult> list = new ArrayList<>();
for (BasShuttle basShuttle : basShuttles) {
String idleLoc = basShuttle.getIdleLoc();
@@ -320,6 +334,25 @@
}
/**
+ * 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�
*/
@@ -331,12 +364,24 @@
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;
+ }
+
+ //灏忚溅鏈夊厖鐢典换鍔�
+ if (shuttleThread.isCharging()) {
+ continue;
+ }
+
+ //灏忚溅鏁呴殰璺宠繃
+ if (shuttleThread.isFault()) {
continue;
}
@@ -390,11 +435,14 @@
return null;
}
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+
//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());
+ for (DeviceConfig device : forkliftList) {
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
continue;
}
@@ -406,19 +454,32 @@
continue;
}
- ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), lev);
+ ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(device.getDeviceNo(), 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);
+ ForkLiftStaProtocol targetLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(device.getDeviceNo(), targetLev);
if (targetLiftStaProtocol == null) {
continue;
}
if (targetLiftStaProtocol.getHasTray()) {
continue;//鏈夋墭鐩樿烦杩�
+ }
+
+ if (targetLiftStaProtocol.getHasCar()) {
+ continue;
}
list.add(forkLiftStaProtocol);
@@ -437,7 +498,7 @@
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
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//浣跨敤姝ｅ父閫氶亾鍦板浘
if (currentShuttlePath == null) {
continue;
}
@@ -467,11 +528,13 @@
/**
* 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;
}
@@ -481,7 +544,7 @@
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�
}
@@ -498,4 +561,36 @@
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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