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.Cools;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
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import com.zy.acs.manager.core.cache.CoreCache;
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import com.zy.acs.manager.core.domain.CodeStepDto;
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import com.zy.acs.manager.core.domain.type.JobType;
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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.Travel;
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import com.zy.acs.manager.manager.enums.StatusType;
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import com.zy.acs.manager.manager.enums.TaskTypeType;
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import com.zy.acs.manager.manager.enums.TravelStateType;
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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 javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.util.*;
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import java.util.concurrent.*;
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import java.util.stream.Collectors;
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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 = 100;
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public 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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private List<String> CODE_DATA_CACHE = new ArrayList<>();
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private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
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private List<String> CONVEYOR_DROP_CODE_DATA_CACHE = new ArrayList<String>(){{
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add("00000048");
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}};
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private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
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add("00000146");
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}};
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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 TravelService travelService;
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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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@Autowired
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private AgvModelService agvModelService;
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// pick & drop logic --------------------------------------------------
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private void executeUShapeConveyor(String agvNo) {
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Long agvId = agvService.getAgvId(agvNo);
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if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
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.eq(Travel::getAgvId, agvId)
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.eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
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return;
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}
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if (!agvService.judgeEnable(agvId)) {
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return;
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}
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JobType jobType = CoreCache.AGV_MOCK_JOB_CACHE.get(agvNo);
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if (null == jobType) {
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CoreCache.AGV_MOCK_JOB_CACHE.put(agvNo, JobType.LOC_PICK);
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CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
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jobType = JobType.LOC_PICK;
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}
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String destinationCodeData = null;
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switch (jobType) {
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case LOC_PICK:
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// 5, 4, 3, 2, 1
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int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
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if (0 < locPickRemaining) {
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destinationCodeData = this.getLocCode(agvNo, null);
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}
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break;
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case CONVEYOR_DROP:
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destinationCodeData = this.getConveyorDropCode(agvNo);
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break;
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case CONVEYOR_PICK:
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destinationCodeData = this.getConveyorPickCode(agvNo);
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break;
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case LOCK_DROP:
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// 0, 1, 2, 3, 4
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int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
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if (locDropRemaining < agvModelService.getByAgvId(agvId).getBackpack()) {
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destinationCodeData = this.getLocCode(agvNo, null);
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}
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break;
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default:
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log.warn("AGV {}: 未知阶段: {}", agvNo, jobType);
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break;
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}
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if (Cools.isEmpty(destinationCodeData)) {
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return;
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}
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if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
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log.info( "{}开始作业演示...", agvNo);
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CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
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}
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}
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public String getLocCode(String agvNo, AgvDetail agvDetail) {
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if (LOC_CODE_DATA_CACHE.isEmpty()) {
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return null;
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}
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Collections.shuffle(LOC_CODE_DATA_CACHE);
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for (String locCodeData : LOC_CODE_DATA_CACHE) {
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Code locCode = codeService.getCacheByData(locCodeData);
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// valid lane
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if (!allocateService.validCapacityOfLane(agvNo, locCode)) {
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continue;
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}
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return locCodeData;
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}
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return LOC_CODE_DATA_CACHE.stream().findFirst().orElse(null);
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}
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public String getConveyorDropCode(String agvNo) {
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return CONVEYOR_DROP_CODE_DATA_CACHE.stream().findFirst().orElse(null);
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}
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public String getConveyorPickCode(String agvNo) {
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return CONVEYOR_PICK_CODE_DATA_CACHE.stream().findFirst().orElse(null);
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}
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// pure move logic --------------------------------------------------
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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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Long agvId = agvService.getAgvId(agvNo);
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if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
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.eq(Travel::getAgvId, agvId)
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.eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
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return;
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}
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if (!agvService.judgeEnable(agvId)) {
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return;
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}
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AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
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String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
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if (Cools.isEmpty(destinationCodeData)) {
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return;
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}
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if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
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log.info( "{}开始走行演示...", agvNo);
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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 String getDestinationCode(String agvNo, AgvDetail agvDetail) {
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Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
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List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
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List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
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Collections.shuffle(codeList);
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for (String endCodeData : codeList) {
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if (disableCodeList.contains(endCodeData)) { continue; }
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Code endCode = codeService.getCacheByData(endCodeData);
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// valid lane
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if (!allocateService.validCapacityOfLane(agvNo, 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 endCodeData;
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}
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}
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return codeList.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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// executeUShapeConveyor(agvNo);
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} catch (Exception e) {
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log.error("执行AGV{}跑库任务时发生异常: {}", agvNo, e.getMessage());
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}
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};
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ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
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AGV_PATROL_MAP.put(agvNo, scheduledFuture);
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log.info("已启动AGV{}的跑库任务。", agvNo);
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return R.ok();
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}
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public R shutdownPatrol(String agvNo) {
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Long agvId = agvService.getAgvId(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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CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
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CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
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CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
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log.info("已停止AGV {} 的跑库任务。", agvNo);
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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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// init all code data
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List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
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this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
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// int all loc code data
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List<Code> locCodeList = codeService.getAllLocCode();
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this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
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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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