package com.zy.acs.manager.core.service;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.manager.common.utils.CommonUtil;
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import com.zy.acs.manager.core.domain.Lane;
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import com.zy.acs.manager.core.domain.TaskPosDto;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.StatusType;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.enums.TaskTypeType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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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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* Created by vincent on 8/12/2024
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*/
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@Slf4j
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@Service
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public class AllocateService {
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private StaService staService;
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@Autowired
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private LocService locService;
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@Autowired
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private LaneService laneService;
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/**
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* get available agv list which is idle
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*/
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private List<Agv> getAvailableAgv() {
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List<Agv> result = new ArrayList<>();
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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Collections.shuffle(agvList);
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for (Agv agv : agvList) {
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// 1. without running tasks
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if (0 < taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.and(i ->
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i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
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)
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)) {
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continue;
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}
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// 2. in idle status
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if (!agvService.judgeEnable(agv.getId(), true)) {
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continue;
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}
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result.add(agv);
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}
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return result;
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}
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/**
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* 1. 判断task的起始点和目的点所在的巷道承载任务数量，
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* 如果数量已经达到负载，则判断负载任务的AGV是否还有空背篓，如果有则优先派发给它，
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* 如果没有了，那么则阻塞任务，直到该巷道释放
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* 2. 轮询空闲小车，目标是让每台小车都动起来
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* 判断逻辑：背篓数量最少的小车轮询的时候，优先级最高
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*
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* it can break the limit of the number of agv backpack
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*/
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public synchronized Agv execute(Task task) {
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List<Agv> availableAgvList = getAvailableAgv();
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if (Cools.isEmpty(availableAgvList)) {
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log.warn("No available agv to assign the task[{}]", task.getSeqNum());
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return null;
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}
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List<String> availableAgvNos = availableAgvList.stream().map(Agv::getUuid).distinct().collect(Collectors.toList());
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Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
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// checkout lane
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Lane originLane = taskService.checkoutOriginLane(task);
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Lane destinationLane = taskService.checkoutDestinationLane(task);
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// allocate about origin
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List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
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if (null != originLane) {
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List<String> agvNosByOriLane = findAgvNosByLane(originLane); // the agv list that had tasks in this lane
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// if full lane
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if (agvNosByOriLane.size() >= maxAgvCountInLane) {
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availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos);
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}
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}
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// valid backpack limit
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availableAgvNosByOriLane = this.validBackpackLimit(availableAgvNosByOriLane);
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// allocate about destination
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List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos);
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if (null != destinationLane) {
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List<String> agvNosByDestLane = findAgvNosByLane(destinationLane);
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if (agvNosByDestLane.size() >= maxAgvCountInLane) {
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availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
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}
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}
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availableAgvNosByDestLane = this.validBackpackLimit(availableAgvNosByDestLane);
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// valid
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if (Cools.isEmpty(availableAgvNosByOriLane)) {
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log.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
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return null;
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}
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if (Cools.isEmpty(availableAgvNosByDestLane)) {
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log.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
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return null;
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}
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List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
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if (Cools.isEmpty(actualAvailableAgvNos)) {
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log.warn("No available agv to assign the task[{}]", task.getSeqNum());
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return null;
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}
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// choose min number of running task
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actualAvailableAgvNos.sort(new Comparator<String>() {
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@Override
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public int compare(String agvNo1, String agvNo2) {
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return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
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}
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});
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if (null != originLane) {
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task.setOriLaneHash(originLane.getHashCode());
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}
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if (null != destinationLane) {
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task.setDestLaneHash(destinationLane.getHashCode());
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}
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return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
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}
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public List<String> findAgvNosByLane(Lane lane) {
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if (null == lane) {
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return new ArrayList<>();
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}
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List<Task> taskList = taskService.findRunningTasksByLaneHash(lane.getHashCode());
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if (Cools.isEmpty(taskList)) {
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return new ArrayList<>();
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}
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return taskList.stream()
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.map(task -> agvService.getById(task.getAgvId()).getUuid())
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.distinct()
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.collect(Collectors.toList());
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}
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private List<String> validBackpackLimit(List<String> agvNoList) {
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if (Cools.isEmpty(agvNoList)) {
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return new ArrayList<>();
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}
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return agvNoList.stream().filter(agvNo -> {
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Agv agv = agvService.selectByUuid(agvNo);
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId());
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return transportTasks.size() < agvModel.getBackpack();
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}).collect(Collectors.toList());
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}
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// calculate wight = backpack + distance
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private int calcAllocateWeight(String agvNo, Task task) {
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int weight = 0;
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Agv agv = agvService.selectByUuid(agvNo);
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// backpack
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List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId());
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if (!Cools.isEmpty(transportTasks)) {
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weight = weight + transportTasks.size() * 100000;
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}
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// distance
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// from
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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Code agvCurrCode = codeService.getById(agvDetail.getRecentCode());
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Double[] fromPosition = new Double[]{agvCurrCode.getX(), agvCurrCode.getY()};
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// to
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Code firstCode = null;
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TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
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switch (Objects.requireNonNull(typeType)) {
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case LOC_TO_LOC:
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case LOC_TO_STA:
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Loc oriLoc = locService.getById(task.getOriLoc());
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firstCode = codeService.getById(oriLoc.getCode());
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break;
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case STA_TO_LOC:
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case STA_TO_STA:
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Sta oriSta = staService.getById(task.getOriSta());
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firstCode = codeService.getById(oriSta.getCode());
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break;
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case TO_CHARGE:
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case TO_STANDBY:
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case MOVE:
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firstCode = codeService.getById(task.getDestCode());
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break;
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default:
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firstCode = codeService.getById(task.getDestCode());
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break;
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}
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assert null != firstCode;
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Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
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// calculate distance
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weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);
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// return opposite
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return -weight;
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}
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public Boolean validCapacityOfLane(Agv agv, Code code) {
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Lane lane = laneService.search(code.getData());
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if (null != lane) {
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Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
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List<String> agvNosByLane = this.findAgvNosByLane(lane);
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agvNosByLane.remove(agv.getUuid());
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if (agvNosByLane.size() >= maxAgvCountInLane) {
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return false;
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}
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}
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return true;
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}
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// The Permutations and combinations for task
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public Double[] pac(Double[] currPosition, List<List<TaskPosDto>> list) {
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List<TaskPosDto> theFirstOne = list.get(0);
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List<TaskPosDto> theLastOne = list.get(list.size() - 1);
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if (list.size() == 1) {
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TaskPosDto head = theFirstOne.get(0);
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TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
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int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
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int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
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if (distanceByTail < distanceByHead) {
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Collections.reverse(theFirstOne);
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}
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} else {
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TaskPosDto headOfFirst = theFirstOne.get(0);
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TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
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TaskPosDto headOfLast = theLastOne.get(0);
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TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
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int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
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int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
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int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
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int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
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if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
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Collections.reverse(list);
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if (distanceByTailOfLast < distanceByHeadOfLast) {
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Collections.reverse(theLastOne);
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}
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} else {
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if (distanceByTailOfFirst < distanceByHeadOfFirst) {
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Collections.reverse(theFirstOne);
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}
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}
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}
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theLastOne = list.get(list.size() - 1);
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return theLastOne.get(theLastOne.size() - 1).getXy();
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}
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}
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