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.framework.common.Cools;
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import com.zy.acs.manager.common.utils.LocUtils;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Task;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.service.AgvModelService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.TaskService;
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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 java.util.*;
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/**
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* Created by vincent on 8/12/2024
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*/
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@Slf4j
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@Service
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public class AllocateService {
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private LaneService laneService;
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/**
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* get available agv list which is idle
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*/
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private List<Agv> getAvailableAgv() {
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List<Agv> result = new ArrayList<>();
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
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Collections.shuffle(agvList);
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for (Agv agv : agvList) {
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// 1. without running tasks
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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.ASSIGN.val())
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.or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
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)
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)) {
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continue;
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}
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// 2. in idle status
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if (!agvService.judgeEnable(agv.getId(), true)) {
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continue;
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}
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result.add(agv);
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}
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return result;
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}
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public synchronized Agv execute(Task task) {
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List<Agv> availableAgvList = getAvailableAgv();
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if (Cools.isEmpty(availableAgvList)) {
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log.warn("No available agv to assign the task[{}]", task.getSeqNum());
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return null;
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}
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Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
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/**
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* 1. 判断task的起始点和目的点所在的巷道承载任务数量，
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* 如果数量已经达到负载，则判断负载任务的AGV是否还有空背篓，如果有则优先派发给它，
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* 如果没有了，那么则阻塞任务，直到该巷道释放
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*
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* 2. 轮询空闲小车，目标是让每台小车都动起来
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* 判断逻辑：背篓数量最少的小车轮询的时候，优先级最高
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*/
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return null;
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}
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public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
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String oriLocNo = task.getOriLoc$();
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int oriLocRow = LocUtils.getRow(oriLocNo);
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String destLocNo = task.getDestLoc$();
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int destLocRow = LocUtils.getRow(destLocNo);
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Agv hit = null;
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
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Collections.shuffle(agvList);
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for (Agv agv : agvList) {
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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int allotTaskCount = 0;
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List<Long> allotTaskIds = taskAllot.get(agv.getUuid());
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if (!Cools.isEmpty(allotTaskIds)) {
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allotTaskCount = allotTaskIds.size();
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}
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if (allotTaskCount >= agvModel.getBackpack()) {
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continue;
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}
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.notIn(Task::getId, taskIds)
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 已经有waiting任务的车不能再分配
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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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})) > 0) {
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log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
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continue;
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}
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if (!agvService.judgeEnable(agv.getId(), true)) {
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log.info(agv.getUuid() + "号AGV不可用，" + task.getSeqNum() + "任务无法计算...");
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continue;
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}
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hit = agv;
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break;
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}
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return hit;
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}
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public synchronized Agv execute1(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
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String oriLocNo = task.getOriLoc$();
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int oriLocRow = LocUtils.getRow(oriLocNo);
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String destLocNo = task.getDestLoc$();
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int destLocRow = LocUtils.getRow(destLocNo);
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Agv agv = null;
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if (oriLocRow <= 2 && destLocRow <= 2) {
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agv = agvService.selectByUuid(String.valueOf(1));
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}
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if (oriLocRow > 2 && destLocRow > 2) {
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agv = agvService.selectByUuid(String.valueOf(2));
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}
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assert agv != null;
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AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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int allotTaskCount = 0;
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List<Long> allotTaskIds = taskAllot.get(agv.getUuid());
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if (!Cools.isEmpty(allotTaskIds)) {
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allotTaskCount = allotTaskIds.size();
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}
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if (allotTaskCount >= agvModel.getBackpack()) {
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return null;
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}
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if (taskService.count(new LambdaQueryWrapper<Task>()
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.eq(Task::getAgvId, agv.getId())
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.notIn(Task::getId, taskIds)
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.and(i -> {
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i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 已经有waiting任务的车不能再分配
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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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})) > 0) {
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log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务...");
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return null;
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}
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if (!agvService.judgeEnable(agv.getId(), true)) {
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log.info(agv.getUuid() + "号AGV不可用，" + task.getSeqNum() + "任务无法计算...");
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return null;
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}
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return agv;
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}
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}
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