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.enums.AgvStatusType;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.*;
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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.SegmentService;
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import com.zy.acs.manager.manager.service.TaskService;
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import lombok.Data;
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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.time.LocalDateTime;
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import java.util.ArrayList;
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import java.util.Comparator;
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import java.util.List;
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import java.util.Objects;
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@Slf4j
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@Service
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public class GuaranteeRuntimeService {
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@Autowired
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private SegmentService segmentService;
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private final AgvService agvService;
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private final AgvDetailService agvDetailService;
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private final TaskService taskService;
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private final MainLockWrapService mainLockWrapService;
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public GuaranteeRuntimeService(AgvService agvService,
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AgvDetailService agvDetailService,
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TaskService taskService,
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MainLockWrapService mainLockWrapService) {
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this.agvService = agvService;
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this.agvDetailService = agvDetailService;
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this.taskService = taskService;
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this.mainLockWrapService = mainLockWrapService;
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}
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public void prepare(Guarantee plan, LocalDateTime targetTime) {
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int requiredCount = plan.getRequiredCount() == null ? 0 : plan.getRequiredCount();
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if (requiredCount <= 0) {
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log.warn("Guarantee[{}] requiredCount is not configured, skip", plan.getName());
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return;
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}
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int minSoc = plan.getMinSoc();
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List<Agv> scopedAgvList = findScopedAgvList(plan);
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int available = 0;
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List<ChargeCandidate> candidates = new ArrayList<>();
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for (Agv agv : scopedAgvList) {
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AgvDetail detail = agvDetailService.selectMajorByAgvId(agv.getId());
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if (null == detail || null == detail.getSoc() || null == detail.getAgvStatus()) {
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continue;
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}
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if (detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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continue;
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}
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if (!isIdle(agv, detail)) {
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continue;
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}
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int soc = detail.getSoc();
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if (soc >= minSoc) {
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available++;
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} else {
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candidates.add(new ChargeCandidate(agv, soc));
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}
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}
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if (available >= requiredCount) {
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// log.debug("Guarantee[{}] already has {} vehicles >= {}% SOC for {}", plan.getName(), available, minSoc, targetTime);
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return;
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}
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int shortage = requiredCount - available; // 还差多少辆
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candidates.sort(Comparator.comparingInt(ChargeCandidate::getSoc));
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int scheduled = 0; // 已经安排充电的AGV数量
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for (ChargeCandidate candidate : candidates) {
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if (scheduled >= shortage) {
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break;
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}
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log.info("Guarantee[{}] schedule AGV {} charging (soc={}%) for target {}",
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plan.getName(), candidate.getAgv().getName(), candidate.getSoc(), targetTime);
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mainLockWrapService.buildMinorTask(candidate.getAgv().getId(), TaskTypeType.TO_CHARGE, null, null);
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scheduled++;
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}
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if (scheduled < shortage) {
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log.warn("Guarantee[{}] still short of {} vehicles for {} (only {} idle low-soc AGVs)",
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plan.getName(), shortage - scheduled, targetTime, candidates.size());
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}
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}
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private boolean isIdle(Agv agv, AgvDetail detail) {
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if (!Objects.equals(agv.getStatus(), StatusType.ENABLE.val)) {
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return false;
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}
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if (detail.getAgvStatus() != null && detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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return false;
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}
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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.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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// })
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.in(Task::getTaskSts,
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TaskStsType.WAITING.val(),
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TaskStsType.ASSIGN.val(),
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TaskStsType.PROGRESS.val())
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)) {
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return false;
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}
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if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
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.eq(Segment::getAgvId, agv.getId())
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.and( i -> {
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// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
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i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
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})
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)) {
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return false;
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}
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return true;
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}
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private List<Agv> findScopedAgvList(Guarantee plan) {
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LambdaQueryWrapper<Agv> wrapper = new LambdaQueryWrapper<Agv>()
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.eq(Agv::getStatus, StatusType.ENABLE.val);
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if (GuaranteeScopeType.MODEL.toString().equalsIgnoreCase(plan.getScopeType()) && plan.getScopeValue() != null) {
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try {
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wrapper.eq(Agv::getAgvModel, Long.valueOf(plan.getScopeValue()));
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} catch (NumberFormatException ignore) {
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log.warn("Guarantee[{}] invalid scopeValue {}", plan.getName(), plan.getScopeValue());
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}
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}
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return agvService.list(wrapper);
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}
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@Data
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private static class ChargeCandidate {
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private final Agv agv;
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private final int soc;
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ChargeCandidate(Agv agv, int soc) {
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this.agv = agv;
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this.soc = soc;
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}
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}
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}
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