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.*;
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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.*;
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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.manager.service.impl.TaskServiceImpl;
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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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import java.util.stream.Collectors;
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@Slf4j
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@Component
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public class AutoRunScheduler {
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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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@Autowired
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private AreaAgvService areaAgvService;
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@Autowired
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private AreaService areaService;
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@Autowired
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private TaskServiceImpl taskService;
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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("TaskAssignMode", Boolean.class)) {
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return;
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}
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Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
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if (!maintainLocSts) {
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log.error("failed to run auto agv task, the maintainLocSts is false");
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return;
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}
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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) {
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return;
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}
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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) {
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log.error("failed to run auto agv task, 跑库区域无可用小车");
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return;
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}
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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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List<String> codes = getTestAreaCodes();
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if (codes.isEmpty()) {
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log.error("failed to run auto agv task, 未配置跑库区域");
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return;
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}
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// 入库
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this.runStaToLoc(agvModel, codes, memo);
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// 出库
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this.runLocToSta(agvModel, codes, memo);
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// 移库
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this.runLocToLoc(agvModel, codes, memo);
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}
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// 入库
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private void runStaToLoc(AgvModel agvModel, List<String> codes, String memo) {
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// STOCK STA
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List<Sta> stockList = staService.queryAvailableOutSta(1);
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List<Sta> staList = new ArrayList<>();
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for (Sta sta : stockList) {
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if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
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List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
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if ((sta.getCapacity() - sta.getRsvInCnt()) > (list.isEmpty() ? 0 : list.size())) {
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staList.add(sta);
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}
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}
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}
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if (Cools.isEmpty(staList)) {
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return;
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}
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Collections.shuffle(staList);
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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 < Math.min(agvModel.getBackpack(), staList.size()); i++) {
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Sta stockSta = staList.get(i);
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Loc idleLoc = getLocByLocSts(LocStsType.IDLE.val(), codes);
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if (null == idleLoc) {
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break;
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}
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TaskDto taskDto = new TaskDto();
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taskDto.setOriSta(stockSta.getStaNo());
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taskDto.setDestLoc(idleLoc.getLocNo());
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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())) {
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return;
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}
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mainService.generateBusAndTask(param, memo);
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}
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// 出库
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private void runLocToSta(AgvModel agvModel, List<String> codes, String memo) {
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// IDLE STA
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List<Sta> idleList = staService.queryAvailableInSta(1);
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List<Sta> staList = new ArrayList<>();
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for (Sta sta : idleList) {
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if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
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List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
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if ((sta.getCapacity() - sta.getRsvOutCnt()) > (list.isEmpty() ? 0 : list.size())) {
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staList.add(sta);
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}
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}
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}
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if (Cools.isEmpty(staList)) {
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return;
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}
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Collections.shuffle(staList);
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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 < Math.min(agvModel.getBackpack(), staList.size()); i++) {
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Sta idleSta = staList.get(i);
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Loc stockLoc = getLocByLocSts(LocStsType.STOCK.val(), codes);
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if (null == stockLoc) {
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break;
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}
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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())) {
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return;
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}
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mainService.generateBusAndTask(param, memo);
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}
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// 移库
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private void runLocToLoc(AgvModel agvModel, List<String> codes, 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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)) {
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return;
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}
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int maxCapacity = agvModel.getBackpack();
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// STOCK
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List<Loc> stockLocList = getAllLocByLocSts(LocStsType.STOCK.val(), codes);
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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 = getAllLocByLocSts(LocStsType.IDLE.val(), codes);
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if (Cools.isEmpty(idleLocList)) {
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return;
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}
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Collections.shuffle(idleLocList);
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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 < 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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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.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())) {
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return;
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}
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mainService.generateBusAndTask(param, memo);
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}
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public Loc getLocByLocSts(Long locSts, List<String> codes) {
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List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
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Collections.shuffle(list);
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for (Loc loc : list) {
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if (codes.contains(loc.getCode$())) {
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return loc;
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}
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}
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return null;
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}
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public List<Loc> getAllLocByLocSts(Long locSts, List<String> codes) {
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List<Loc> data = new ArrayList<>();
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List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
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Collections.shuffle(list);
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for (Loc loc : list) {
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if (codes.contains(loc.getCode$())) {
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data.add(loc);
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}
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}
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return data;
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}
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public List<String> getTestAreaCodes() {
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String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
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if (Cools.isEmpty(taskAssignModeArea)) {
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List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
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return list.stream().map(Code::getData).collect(Collectors.toList());
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}
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List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
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if (list.isEmpty()) {
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return Collections.emptyList();
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}
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return areaGovernService.queryCodes(list.stream().map(Area::getId).collect(Collectors.toList()));
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}
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public List<Long> getTestAreaAgvs() {
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String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
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if (Cools.isEmpty(taskAssignModeArea)) {
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List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
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return list.stream().map(Agv::getId).collect(Collectors.toList());
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}
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List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
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if (list.isEmpty()) {
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return Collections.emptyList();
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}
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List<AreaAgv> list1 = areaAgvService.list(new LambdaQueryWrapper<AreaAgv>().in(AreaAgv::getAreaId, list.stream().map(Area::getId).collect(Collectors.toList())));
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return list1.stream().map(AreaAgv::getAgvId).collect(Collectors.toList());
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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<Long> testAreaAgvs = getTestAreaAgvs();
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for (Long agvId : testAreaAgvs) {
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String agvNo = agvService.getAgvNo(agvId);
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Agv agv = agvService.selectByUuid(agvNo);
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if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
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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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