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.common.utils.RedisSupport;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.entity.Task;
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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.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeService;
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import com.zy.acs.manager.manager.service.TaskService;
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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 javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.*;
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/**
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* Created by vincent on 11/9/2024
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*/
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@Slf4j
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@Service
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public class PatrolService {
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private static final int SCHEDULE_TIME_INTERVAL = 5;
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private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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private ScheduledExecutorService scheduler = null;
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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 TaskService taskService;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@Autowired
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private LaneService laneService;
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@Autowired
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private AllocateService allocateService;
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@Autowired
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private ConfigService configService;
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private void executePatrolLogic(String agvNo) {
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this.patrolOfMove(agvNo);
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}
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private void patrolOfMove(String agvNo) {
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Agv agv = agvService.selectByUuid(agvNo);
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (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.WAITING.val())
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.or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
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})) > 0) {
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return;
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}
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if (!agvService.judgeEnable(agv.getId())) {
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return;
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}
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Code destinationCode = this.getDestinationCode(agv, agvDetail);
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if (null == destinationCode) {
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return;
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}
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if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
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log.info(agv.getUuid() + "开始走行演示...");
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}
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}
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/**
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* 4个地方调用了buildMinorTask，在什么时候、哪里设置task的lane
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* (
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* HandlerController, 手动 （手动是否需要判断lane）
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* MaintainScheduler, 自动 （一般不需要考虑 lane）
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* PatrolService, 自动 （需要预处理 lane） ✔
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* TrafficService, 自动 （寻址时已经处理过 lane） ✔
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* )
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* 评估HandlerController没有调用buildMajorTask，手动创建task的可行性
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* agv地图图标变化
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*/
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public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
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Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
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Code startCode = codeService.getById(agvDetail.getRecentCode());
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List<String> notInCodeList = new ArrayList<>();
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notInCodeList.add("00000301");
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notInCodeList.add("00000302");
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notInCodeList.add("00000303");
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notInCodeList.add("00000351");
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notInCodeList.add("00000353");
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notInCodeList.add("00000401");
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notInCodeList.add("00000402");
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notInCodeList.add("00000311");
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notInCodeList.add("00000312");
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notInCodeList.add("00000313");
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notInCodeList.add("00000361");
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notInCodeList.add("00000363");
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notInCodeList.add("00000411");
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notInCodeList.add("00000412");
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notInCodeList.add("00000046");
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notInCodeList.add("00000047");
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List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
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Collections.shuffle(list);
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for (Code endCode : list) {
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// valid lane
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if (!allocateService.validCapacityOfLane(agv, endCode)) {
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continue;
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}
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// valid path length
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List<String> pathList = mapService.validFeasibility(startCode, endCode);
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if (pathList.size() >= 5) {
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return endCode;
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}
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}
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return list.stream().findFirst().orElse(null);
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}
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// ---------------------------------------------------------------------------
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public boolean isPatrolling(String agvNo) {
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ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
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if (scheduledFuture == null) {
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return false;
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}
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return !scheduledFuture.isCancelled() && !scheduledFuture.isDone();
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}
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public R startupPatrol(String agvNo) {
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if (AGV_PATROL_MAP.containsKey(agvNo)) {
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return R.error("AGV " + agvNo + " 的跑库任务已经在运行中。");
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}
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Runnable patrolTask = () -> {
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try {
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executePatrolLogic(agvNo);
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} catch (Exception e) {
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log.error("执行AGV " + agvNo + " 跑库任务时发生异常: " + e.getMessage());
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e.printStackTrace();
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}
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};
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ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
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AGV_PATROL_MAP.put(agvNo, scheduledFuture);
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log.info("已启动AGV " + agvNo + " 的跑库任务。");
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return R.ok();
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}
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public R shutdownPatrol(String agvNo) {
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ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
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if (scheduledFuture == null) {
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return R.error("AGV " + agvNo + " 没有正在运行的跑库任务。");
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}
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boolean cancelled = scheduledFuture.cancel(true);
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if (cancelled) {
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AGV_PATROL_MAP.remove(agvNo);
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log.info("已停止AGV " + agvNo + " 的跑库任务。");
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return R.ok("已停止AGV " + agvNo + " 的跑库任务。");
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} else {
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log.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
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return R.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
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}
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}
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@PostConstruct
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public void init() {
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int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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if (count > 0) {
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this.scheduler = Executors.newScheduledThreadPool(count);
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}
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}
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@PreDestroy
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public void destroy() throws InterruptedException {
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for (Map.Entry<String, ScheduledFuture<?>> entry : AGV_PATROL_MAP.entrySet()) {
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entry.getValue().cancel(true);
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}
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scheduler.shutdown();
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if (!scheduler.awaitTermination(5, TimeUnit.SECONDS)) {
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scheduler.shutdownNow();
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}
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}
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}
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