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.common.constant.RedisConstant;
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import com.zy.acs.common.utils.RedisSupport;
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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.service.AreaGovernService;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
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import com.zy.acs.manager.manager.entity.*;
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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.enums.StatusType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.manager.service.impl.CodeServiceImpl;
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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.*;
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@Slf4j
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@Component
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public class AutoTestDeviationScheduler {
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private static final AgvModelType DEFAULT_AGV_MODEL = AgvModelType.HEAVY_LOAD_STACKING_ROBOT;
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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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 MainService mainService;
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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 StaService staService;
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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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@Autowired
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private AreaGovernService areaGovernService;
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@Autowired
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private CodeServiceImpl codeService;
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/**
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* 循环跑库，测试偏差
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*/
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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 execute() {
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if (!configService.getVal("TestDeviationMode", Boolean.class)) { return; }
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, DEFAULT_AGV_MODEL.toString()));
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if (null == agvModel) { return; }
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this.autoRun(agvModel);
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}
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private void autoRun(AgvModel agvModel) {
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int availableAgvCount = this.getAvailableAgvCount();
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if (0 == availableAgvCount) { return; }
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// List<String> staPreNos = getStaPrefixes(staGroupList);
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List<String> staPreNos = new ArrayList<>();
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String memo = "DEMO_STA_" + String.join("-", staPreNos);
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// 移库
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this.runLocToLoc(agvModel, memo);
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}
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// 移库
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private void runLocToLoc(AgvModel agvModel, String staTaskMemo) {
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String memo = "DEMO_LOC";
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int availableAgvCount = this.getAvailableAgvCount();
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// 最多 ? 组bus运行
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if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
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.in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
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.in(Bus::getMemo, memo, staTaskMemo)
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)) { return; }
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int maxCapacity = agvModel.getBackpack();
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// STOCK
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List<Loc> stockLocList = locService.selectRandByLocSts(LocStsType.STOCK.val(), maxCapacity);
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if (Cools.isEmpty(stockLocList)) {
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return;
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}
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Collections.shuffle(stockLocList);
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// IDLE
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List<Loc> idleLocList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getStatus,1).eq(Loc::getLocSts,LocStsType.IDLE.val()).ne(Loc::getMemo,"1").orderByAsc(Loc::getRow).orderByAsc(Loc::getBay).orderByAsc(Loc::getLev));
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if (Cools.isEmpty(idleLocList)) {
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return;
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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 < Math.min(maxCapacity, Math.min(stockLocList.size(), idleLocList.size())); i++) {
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Loc stockLoc = stockLocList.get(i);
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Loc idleLoc = idleLocList.get(i);
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idleLoc.setMemo("1");
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locService.updateById(idleLoc);
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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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if (Cools.isEmpty(param.getTaskList())) { return; }
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mainService.generateBusAndTask(param, memo);
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}
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private int getAvailableAgvCount() {
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int res = 0;
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
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if (Cools.isEmpty(agvList)) {
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return res;
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}
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for (Agv agv : agvList) {
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if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid())) {
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continue;
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}
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if (!agv.getStatusBool()) {
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continue;
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}
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res++;
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}
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return res;
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}
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}
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