package com.zy.acs.manager.core.scheduler;
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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.constant.AgvGroupConstant;
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import com.zy.acs.manager.core.constant.LocGroupConstant;
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import com.zy.acs.manager.core.constant.StaGroupConstant;
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import com.zy.acs.manager.core.service.MainLockWrapService;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.core.service.TrafficService;
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import com.zy.acs.manager.manager.controller.param.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.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 AutoRunScheduler {
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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 TaskService taskService;
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@Autowired
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private MainService mainService;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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@Autowired
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private ActionService actionService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private TrafficService trafficService;
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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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// @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)) { return; }
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String autoRunAreas = configService.getVal("autoRunAreas", String.class);
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if (Cools.isEmpty(autoRunAreas)) { return; }
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for (char c : autoRunAreas.toCharArray()) {
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switch (c) {
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case '1':
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this.autoRun(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
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break;
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case '2':
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this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
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break;
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case '3':
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this.autoRun(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
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break;
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case '4':
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this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
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break;
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case '5':
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this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
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break;
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default:
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break;
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}
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}
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}
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private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
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int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
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if (0 == availableAgvCount) { return; }
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List<String> staPreNos = getStaPrefixes(staGroupList);
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String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);
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// 入库
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this.runStaToLoc(locGroupList, staGroupList, staTaskMemo);
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// 出库
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this.runLocToSta(locGroupList, staGroupList, staTaskMemo);
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// 移库
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this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
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}
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// 入库
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private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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return;
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}
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// STOCK
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LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>()
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.eq(Sta::getStaSts, StaStsType.STOCK.val())
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.eq(Sta::getStatus, StatusType.ENABLE.val)
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.in(Sta::getStaNo, staGroupList);
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List<Sta> stockList = staService.list(stockWrapper);
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if (Cools.isEmpty(stockList)) { return; }
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Collections.shuffle(stockList);
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// IDLE
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LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
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if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
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List<Loc> idleList = locService.list(idleWrapper);
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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.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < Math.min(agvModel.getBackpack(), Math.min(stockList.size(), idleList.size())) ; i++) {
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Sta stockSta = stockList.get(i);
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Loc idleLoc = idleList.get(i);
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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.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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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(List<Integer> locGroupList, List<String> staGroupList, String memo) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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return;
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}
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int maxCapacity = agvModel.getBackpack();
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// STA IDLE
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LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
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.eq(Sta::getStaSts, StaStsType.IDLE.val())
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.eq(Sta::getStatus, StatusType.ENABLE.val)
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.in(Sta::getStaNo, staGroupList);
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List<Sta> idleList = staService.list(idleWrapper);
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if (Cools.isEmpty(idleList)) {
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return;
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}
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Collections.shuffle(idleList);
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// LOC STOCK
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LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
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if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
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List<Loc> stockList = locService.list(stockWrapper);
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if (Cools.isEmpty(stockList)) {
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return;
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}
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Collections.shuffle(stockList);
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < Math.min(maxCapacity, Math.min(idleList.size(), stockList.size())); i++) {
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Loc stockLoc = stockList.get(i);
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Sta idleSta = idleList.get(i);
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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.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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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(List<Integer> locGroupList, List<String> agvGroupList, String staTaskMemo) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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String memo = "DEMO_LOC_" + startRow + "-" + endRow;
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int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
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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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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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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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LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
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if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
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List<Loc> stockList = locService.list(stockWrapper);
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if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
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return;
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}
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Collections.shuffle(stockList);
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// IDLE
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LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
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if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
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if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
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List<Loc> idleList = locService.list(idleWrapper);
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if (Cools.isEmpty(idleList)) {
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return;
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}
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Collections.shuffle(idleList);
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < Math.min(maxCapacity, Math.min(stockList.size(), idleList.size())); i++) {
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Loc stockLoc = stockList.get(i);
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Loc idleLoc = idleList.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.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
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param.getTaskList().add(taskDto);
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}
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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(List<String> agvNos) {
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int res = 0;
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if (Cools.isEmpty(agvNos)) {
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return res;
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}
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for (String agvNo : agvNos) {
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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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Agv agv = agvService.selectByUuid(agvNo);
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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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