package com.zy.acs.manager.core.scheduler.test;
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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.core.integrate.dto.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 ConveyorAutoRunScheduler {
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private static final AgvModelType DEFAULT_AGV_MODEL = AgvModelType.CTU_BOX_TRANSPORT_AGV;
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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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// @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("ConveyorTaskAssignMode", 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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// 最多 ? 组bus运行
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if (1 <= 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)
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)) { return; }
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// 出库
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this.runLocToSta(agvModel, memo);
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}
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// 出库
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private void runLocToSta(AgvModel agvModel, String memo) {
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// IDLE STA
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List<Sta> idleList = new ArrayList<>();
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idleList.add(staService.selectByStaNo("1001"));
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idleList.add(staService.selectByStaNo("1007"));
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if (Cools.isEmpty(idleList)) { return; }
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Collections.shuffle(idleList);
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < agvModel.getBackpack() ; i++) {
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Sta idleSta = idleList.get(i);
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String staCode = codeService.getCacheById(idleSta.getCode()).getData();
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Loc stockLoc = null;
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// 所在区域的条码，如果没有area绑定，就全地图
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List<String> codeList = areaGovernService.queryCodesByOneCode(staCode);
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if (Cools.isEmpty(codeList)) {
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stockLoc = locService.selectRandOneByLocSts(LocStsType.STOCK.val(), 1);
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} else {
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Collections.shuffle(codeList);
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for (String codeData : codeList) {
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Code code = codeService.getCacheByData(codeData);
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if (null == code) { break; }
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List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getCode, code.getId()).eq(Loc::getLocSts, LocStsType.STOCK.val()));
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if (Cools.isEmpty(locList)) {
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break;
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} else if (locList.size() == 1) {
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stockLoc = locList.get(0);
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} else {
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Collections.shuffle(locList);
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stockLoc = locList.get(0);
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}
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if (null != stockLoc) {
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break;
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}
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}
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}
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if (null == stockLoc) { break; }
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestSta(idleSta.getStaNo());
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taskDto.setPriority(100);
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taskDto.setTaskNo(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTasks().add(taskDto);
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}
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if (Cools.isEmpty(param.getTasks())) { return; }
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mainService.generateBusAndTask(param, memo);
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}
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public static List<String> getStaPrefixes(List<String> staGroupList) {
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Set<String> rowSet = new HashSet<>();
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for (String s : staGroupList) {
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rowSet.add(s.split("-")[0]);
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}
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List<String> result = new ArrayList<>(rowSet);
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result.sort(Comparator.comparingInt(Integer::parseInt));
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return result;
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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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