package com.algo.service;
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import com.algo.config.EnvDataConfig;
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import com.algo.model.AGVStatus;
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import com.algo.model.BackpackData;
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import com.algo.model.TaskAssignment;
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import com.algo.model.TaskData;
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import com.algo.util.JsonUtils;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.*;
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import java.util.stream.Collectors;
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/**
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* 任务分配服务类
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*/
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@Service
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public class TaskAllocationService {
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@Autowired
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private EnvDataConfig envDataConfig;
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/**
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* 执行任务分配
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* 根据AGV状态和任务列表进行智能分配
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*
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* @param agvStatusList AGV状态列表
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* @param taskList 任务列表
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* @return 任务分配结果列表
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*/
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public List<TaskAssignment> allocateTasks(List<AGVStatus> agvStatusList, List<TaskData> taskList) {
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System.out.println("开始任务分配，AGV数量: " + agvStatusList.size() + ", 任务数量: " + taskList.size());
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// 输出环境信息
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System.out.println("环境信息：宽度=" + envDataConfig.getEnvironmentConfig().get("width") +
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", 高度=" + envDataConfig.getEnvironmentConfig().get("height") +
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", 工作站数量=" + envDataConfig.getEnvironmentConfig().get("stationCount"));
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List<TaskAssignment> assignments = new ArrayList<>();
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// 1. 过滤可用的AGV
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List<AGVStatus> availableAgvs = agvStatusList.stream()
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.filter(agv -> agv.isAvailable() && agv.getAvailableBackpackCount() > 0)
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.collect(Collectors.toList());
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System.out.println("可用AGV数量: " + availableAgvs.size());
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if (availableAgvs.isEmpty()) {
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System.out.println("没有可用的AGV，任务分配结束");
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return assignments;
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}
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// 2. 过滤需要分配的任务（排除已指定AGV的任务）
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List<TaskData> unassignedTasks = taskList.stream()
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.filter(task -> !task.isAssignedToAgv() && task.isTransportTask())
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.collect(Collectors.toList());
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System.out.println("需要分配的运输任务数量: " + unassignedTasks.size());
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// 3. 按优先级排序任务
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unassignedTasks.sort((t1, t2) -> Integer.compare(t2.getPriority(), t1.getPriority()));
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// 4. 使用智能分配策略（考虑工作站信息）
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assignments.addAll(performIntelligentAllocation(availableAgvs, unassignedTasks));
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System.out.println("任务分配完成，生成分配结果数量: " + assignments.size());
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return assignments;
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}
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/**
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* 执行智能分配策略
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* 考虑AGV位置、任务位置、背篓容量、工作站容量等因素
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*
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* @param availableAgvs 可用AGV列表
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* @param tasks 待分配任务列表
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* @return 分配结果列表
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*/
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private List<TaskAssignment> performIntelligentAllocation(List<AGVStatus> availableAgvs, List<TaskData> tasks) {
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List<TaskAssignment> assignments = new ArrayList<>();
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// 为每个AGV维护一个工作负载记录
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Map<String, Integer> agvWorkLoad = new HashMap<>();
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Map<String, Integer> agvUsedBackpacks = new HashMap<>();
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for (AGVStatus agv : availableAgvs) {
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agvWorkLoad.put(agv.getAgvId(), 0);
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agvUsedBackpacks.put(agv.getAgvId(), 0);
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}
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// 按地理位置分组任务（考虑工作站信息）
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Map<String, List<TaskData>> tasksByStartLocation = groupTasksByStartLocation(tasks);
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// 为每个位置分组分配AGV
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for (Map.Entry<String, List<TaskData>> entry : tasksByStartLocation.entrySet()) {
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String startLocation = entry.getKey();
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List<TaskData> locationTasks = entry.getValue();
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System.out.println("处理起点 " + startLocation + " 的任务，数量: " + locationTasks.size());
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// 检查是否为工作站
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if (JsonUtils.isStation(startLocation, envDataConfig.getEnvironmentConfig())) {
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Map<String, Object> stationInfo = JsonUtils.getStationInfo(startLocation, envDataConfig.getEnvironmentConfig());
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if (stationInfo != null) {
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Integer capacity = (Integer) stationInfo.get("capacity");
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System.out.println("工作站 " + startLocation + " 容量: " + capacity);
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// 限制同时分配给该工作站的任务数量（不超过容量）
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locationTasks = locationTasks.subList(0, Math.min(locationTasks.size(), capacity));
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}
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}
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// 找到距离该位置最近的AGV
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AGVStatus bestAgv = findNearestAvailableAgv(availableAgvs, startLocation, agvUsedBackpacks);
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if (bestAgv != null) {
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// 为该AGV分配尽可能多的任务（考虑背篓容量）
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int availableBackpacks = bestAgv.getAvailableBackpackCount() - agvUsedBackpacks.get(bestAgv.getAgvId());
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int tasksToAssign = Math.min(locationTasks.size(), availableBackpacks);
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for (int i = 0; i < tasksToAssign; i++) {
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TaskData task = locationTasks.get(i);
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// 查找可用的背篓位置
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int backpackIndex = findAvailableBackpackIndex(bestAgv, agvUsedBackpacks.get(bestAgv.getAgvId()));
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if (backpackIndex != -1) {
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// 创建取货任务分配
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TaskAssignment takeAssignment = new TaskAssignment(
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task.getTaskId(),
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bestAgv.getAgvId(),
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TaskAssignment.generateSegId(task.getTaskId(), bestAgv.getAgvId(), 1),
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String.valueOf(backpackIndex),
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TaskAssignment.TYPE_TAKE
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);
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assignments.add(takeAssignment);
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// 创建放货任务分配
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TaskAssignment putAssignment = new TaskAssignment(
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task.getTaskId(),
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bestAgv.getAgvId(),
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TaskAssignment.generateSegId(task.getTaskId(), bestAgv.getAgvId(), 2),
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String.valueOf(backpackIndex),
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TaskAssignment.TYPE_PUT
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);
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assignments.add(putAssignment);
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// 更新AGV工作负载
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agvWorkLoad.put(bestAgv.getAgvId(), agvWorkLoad.get(bestAgv.getAgvId()) + 1);
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agvUsedBackpacks.put(bestAgv.getAgvId(), agvUsedBackpacks.get(bestAgv.getAgvId()) + 1);
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System.out.println("分配任务 " + task.getTaskId() + " 给AGV " + bestAgv.getAgvId() +
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" 背篓 " + backpackIndex + " (起点: " + startLocation + ")");
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} else {
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System.out.println("AGV " + bestAgv.getAgvId() + " 没有可用的背篓位置");
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break;
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}
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}
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} else {
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System.out.println("未找到可用的AGV处理起点 " + startLocation + " 的任务");
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}
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}
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return assignments;
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}
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/**
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* 按起点位置分组任务
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*
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* @param tasks 任务列表
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* @return 按起点分组的任务Map
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*/
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private Map<String, List<TaskData>> groupTasksByStartLocation(List<TaskData> tasks) {
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Map<String, List<TaskData>> grouped = new HashMap<>();
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for (TaskData task : tasks) {
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String startLocation = task.getStart();
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grouped.computeIfAbsent(startLocation, k -> new ArrayList<>()).add(task);
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}
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return grouped;
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}
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/**
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* 查找距离指定位置最近的可用AGV
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*
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* @param availableAgvs 可用AGV列表
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* @param targetLocation 目标位置
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* @param usedBackpacks 已使用背篓数量统计
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* @return 最近的可用AGV
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*/
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private AGVStatus findNearestAvailableAgv(List<AGVStatus> availableAgvs, String targetLocation, Map<String, Integer> usedBackpacks) {
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AGVStatus bestAgv = null;
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double minDistance = Double.MAX_VALUE;
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int[] targetCoord = JsonUtils.getCoordinate(targetLocation, envDataConfig.getPathMapping());
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if (targetCoord == null) {
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System.out.println("无法获取目标位置 " + targetLocation + " 的坐标");
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return availableAgvs.isEmpty() ? null : availableAgvs.get(0);
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}
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for (AGVStatus agv : availableAgvs) {
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// 检查AGV是否还有可用背篓
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int availableBackpacks = agv.getAvailableBackpackCount() - usedBackpacks.get(agv.getAgvId());
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if (availableBackpacks <= 0) {
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continue;
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}
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int[] agvCoord = JsonUtils.getCoordinate(agv.getPosition(), envDataConfig.getPathMapping());
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if (agvCoord != null) {
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double distance = JsonUtils.calculateManhattanDistance(agvCoord, targetCoord);
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// 考虑AGV的工作负载（距离越近且负载越轻越好）
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double adjustedDistance = distance + usedBackpacks.get(agv.getAgvId()) * 2.0;
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if (adjustedDistance < minDistance) {
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minDistance = adjustedDistance;
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bestAgv = agv;
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}
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}
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}
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return bestAgv;
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}
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/**
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* 查找AGV的可用背篓位置
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*
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* @param agv AGV状态
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* @param usedCount 已使用的背篓数量
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* @return 可用背篓索引，如果没有可用则返回-1
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*/
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private int findAvailableBackpackIndex(AGVStatus agv, int usedCount) {
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if (agv.getBackpack() == null || agv.getBackpack().isEmpty()) {
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return usedCount == 0 ? 0 : -1;
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}
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int availableCount = 0;
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for (BackpackData backpack : agv.getBackpack()) {
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if (backpack.isAvailable()) {
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if (availableCount >= usedCount) {
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return backpack.getIndex();
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}
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availableCount++;
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}
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}
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return -1;
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}
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/**
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* 验证任务分配结果
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*
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* @param assignments 分配结果列表
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* @return 验证是否通过
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*/
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public boolean validateAssignments(List<TaskAssignment> assignments) {
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Map<String, Set<String>> agvBackpackUsage = new HashMap<>();
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for (TaskAssignment assignment : assignments) {
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if (!assignment.isValid()) {
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System.out.println("发现无效的任务分配: " + assignment);
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return false;
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}
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String agvId = assignment.getAgvId();
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String backpackId = assignment.getLev();
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agvBackpackUsage.computeIfAbsent(agvId, k -> new HashSet<>()).add(backpackId);
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}
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// 检查背篓使用冲突
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for (Map.Entry<String, Set<String>> entry : agvBackpackUsage.entrySet()) {
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String agvId = entry.getKey();
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Set<String> usedBackpacks = entry.getValue();
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System.out.println("AGV " + agvId + " 使用背篓: " + usedBackpacks);
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}
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return true;
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}
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}
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