package com.zy.acs.manager.core.scheduler;
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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.framework.common.SnowflakeIdWorker;
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import com.zy.acs.manager.common.domain.TaskDto;
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import com.zy.acs.manager.core.constant.AgvGroupConstant;
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import com.zy.acs.manager.core.constant.LocGroupConstant;
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import com.zy.acs.manager.core.service.MainLockWrapService;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.core.service.TrafficService;
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import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Bus;
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import com.zy.acs.manager.manager.entity.Loc;
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import com.zy.acs.manager.manager.enums.AgvModelType;
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import com.zy.acs.manager.manager.enums.BusStsType;
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import com.zy.acs.manager.manager.enums.LocStsType;
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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.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.util.Collections;
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import java.util.List;
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@Slf4j
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@Component
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public class AutoRunScheduler {
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@Autowired
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private AgvService agvService;
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@Autowired
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private BusService busService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private MainService mainService;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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@Autowired
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private ActionService actionService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private TrafficService trafficService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private LocService locService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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// @Scheduled(fixedRate = 500) // 固定频率执行，不同步
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@Scheduled(fixedDelay = 1000) // 固定频率执行，同步
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// @Scheduled(cron = "0/1 * * * * ? ")
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private void autoLocToLoc() {
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if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
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this.runLocToLoc(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
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this.runLocToLoc(LocGroupConstant.LEFT_LOC_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
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this.runLocToLoc(LocGroupConstant.MIDDLE_LOC_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
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this.runLocToLoc(LocGroupConstant.RIGHT_LOC_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
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this.runLocToLoc(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
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}
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private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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String memo = "DEMO_" + startRow + "-" + endRow;
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int agvCount = agvGroupList.size();
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// 最多 ? 组bus运行
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if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
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.in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
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.eq(Bus::getMemo, memo)
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)) {
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return;
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}
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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return;
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}
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int maxCapacity = agvModel.getBackpack();
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// STOCK
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LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
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if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
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List<Loc> stockList = locService.list(stockWrapper);
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if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
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return;
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}
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Collections.shuffle(stockList);
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if (stockList.size() > maxCapacity) {
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stockList = stockList.subList(0, maxCapacity);
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}
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int numOfStockLocList = stockList.size();
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// IDLE
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LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
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if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
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List<Loc> idleList = locService.list(idleWrapper);
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if (Cools.isEmpty(idleList)) {
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return;
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}
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Collections.shuffle(idleList);
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if (idleList.size() > numOfStockLocList) {
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idleList = idleList.subList(0, numOfStockLocList);
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}
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < numOfStockLocList; i++) {
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Loc stockLoc = stockList.get(i);
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Loc idleLoc = idleList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestLoc(idleLoc.getLocNo());
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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}
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mainService.generateBusAndTask(param, memo);
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}
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}
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