From e8428af781f6cd8f0360aace90ba2e7eddb98033 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 22 四月 2025 10:35:22 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java | 111 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 91 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index fbc87de..0fe2dd8 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -1,8 +1,14 @@
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.ShuttleGatherParam;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
@@ -45,6 +51,8 @@
private NavigateUtils navigateUtils;
@Autowired
private ConfigService configService;
+ @Autowired
+ private BasShuttleService basShuttleService;
/**
* 璋冨害杞﹁締-璋冨害鎸囧畾绌挎杞�
@@ -57,18 +65,6 @@
* 璋冨害杞﹁締
*/
public boolean dispatchShuttle(Integer wrkNo, String locNo) {
- //妫�娴嬬洰鏍囧簱浣嶇粍鏄惁瀛樺湪灏忚溅锛屽瀛樺湪灏忚溅鍒欑洿鎺ユ寚瀹氳杞�
- WrkMast wrkMast = wrkMastService.selectByWorkNo(wrkNo);
- if (wrkMast != null) {
- String targetLocNo = wrkMast.getIoType() < 100 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
- List<String> groupLoc = Utils.getGroupLoc(targetLocNo);
- Integer groupShuttleNo = Utils.checkGroupLocHasShuttle(groupLoc);
- if (groupShuttleNo != null) {
- //瀛樺湪灏忚溅锛岀洿鎺ヨ皟搴﹁杞�
- return shuttleMoveGenerate(wrkNo, locNo, groupShuttleNo);
- }
- }
-
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
@@ -86,6 +82,13 @@
if (!shuttleThread.isIdle()) {
continue;//灏忚溅蹇欑涓�
+ }
+
+ BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
+ if (basShuttle != null) {
+ if (basShuttle.getStatus() == 0) {
+ continue;//灏忚溅琚鐢�
+ }
}
int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠灞傞珮
@@ -226,11 +229,21 @@
return false;
}
+ //鑾峰彇涓诲伐浣滄。淇℃伅
+ WrkMast mainWrkMast = wrkMastService.selectByWorkNo(wrkNo);
+
//鍒ゆ柇鏄惁鏈夊叾浠栦换鍔℃鍦ㄤ娇鐢ㄧ┛姊溅
WrkMast wrkMast2 = wrkMastService.selectShuttleWorking(shuttleNo);
if (wrkMast2 != null) {//灏忚溅瀛樺湪鍏朵粬宸ヤ綔妗ｄ换鍔★紝绛夊緟鎵ц瀹屾垚鍚庡啀鐢熸垚鏂扮殑浠诲姟
- 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;
+ if (mainWrkMast == null) {
+ 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 (!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;
+ }
+ }
}
Integer sourceStaNo = null;//灏忚溅鎹㈠眰婧愮珯鐐�
@@ -244,8 +257,14 @@
return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
}
sourceStaNo = liftSta.getStaNo();//婧愮珯鐐�
- //鎻愬崌鏈哄彿*100+鐩爣妤煎眰=鐩爣绔欑偣
- staNo = liftSta.getLiftNo() * 100 + Utils.getLev(locNo);//鐩爣绔�
+
+ 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�
@@ -271,13 +290,42 @@
}
//缁欏伐浣滄。缁戝畾灏忚溅鍙�
- WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
- if (wrkMast1 != null) {
- wrkMast1.setShuttleNo(shuttleNo);
- wrkMastService.updateById(wrkMast1);
+ if (mainWrkMast != null) {
+ mainWrkMast.setShuttleNo(shuttleNo);
+ wrkMastService.updateById(mainWrkMast);
}
return true;
+ }
+
+ /**
+ * 灏忚溅闆嗗悎
+ */
+ 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();
+ if(Cools.isEmpty(idleLoc)) {
+ continue;
+ }
+
+ boolean result = shuttleMoveGenerate(null, idleLoc, basShuttle.getShuttleNo());
+
+ ShuttleGatherResult gatherResult = new ShuttleGatherResult();
+ gatherResult.setShuttleNo(basShuttle.getShuttleNo());
+ gatherResult.setIdleLoc(idleLoc);
+ gatherResult.setResult(result);
+ list.add(gatherResult);
+ }
+ return list;
}
/**
@@ -298,6 +346,16 @@
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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;
}
@@ -372,6 +430,15 @@
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) {
@@ -382,6 +449,10 @@
continue;//鏈夋墭鐩樿烦杩�
}
+ if (targetLiftStaProtocol.getHasCar()) {
+ continue;
+ }
+
list.add(forkLiftStaProtocol);
}
--
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