1

zhang

2025-09-11 85392bb7db247c4596d3fbf49c9e00cfd0e76a13

 algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java

@@ -1,10 +1,12 @@
package com.algo.service;

import com.algo.config.EnvDataConfig;
import com.algo.model.AGVStatus;
import com.algo.model.BackpackData;
import com.algo.model.TaskAssignment;
import com.algo.model.TaskData;
import com.algo.util.JsonUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.*;
@@ -13,22 +15,14 @@
/**
 * 任务分配服务类
 */
@Service
public class TaskAllocationService {

    private Map<String, Map<String, Integer>> pathMapping;
    private Map<String, Object> environmentConfig;
    @Autowired
    private EnvDataConfig envDataConfig;

    /**
     * 构造函数
     *
     * @param pathMapping       路径映射信息
     * @param environmentConfig 环境配置信息
     */
    public TaskAllocationService(Map<String, Map<String, Integer>> pathMapping,
                                 Map<String, Object> environmentConfig) {
        this.pathMapping = pathMapping;
        this.environmentConfig = environmentConfig;
    }



    /**
     * 执行任务分配
@@ -42,9 +36,9 @@
        System.out.println("开始任务分配，AGV数量: " + agvStatusList.size() + ", 任务数量: " + taskList.size());

        // 输出环境信息
        System.out.println("环境信息：宽度=" + environmentConfig.get("width") +
                ", 高度=" + environmentConfig.get("height") +
                ", 工作站数量=" + environmentConfig.get("stationCount"));
        System.out.println("环境信息：宽度=" + envDataConfig.getEnvironmentConfig().get("width") +
                ", 高度=" + envDataConfig.getEnvironmentConfig().get("height") +
                ", 工作站数量=" + envDataConfig.getEnvironmentConfig().get("stationCount"));

        List<TaskAssignment> assignments = new ArrayList<>();

@@ -109,8 +103,8 @@
            System.out.println("处理起点 " + startLocation + " 的任务，数量: " + locationTasks.size());

            // 检查是否为工作站
            if (JsonUtils.isStation(startLocation, environmentConfig)) {
                Map<String, Object> stationInfo = JsonUtils.getStationInfo(startLocation, environmentConfig);
            if (JsonUtils.isStation(startLocation, envDataConfig.getEnvironmentConfig())) {
                Map<String, Object> stationInfo = JsonUtils.getStationInfo(startLocation, envDataConfig.getEnvironmentConfig());
                if (stationInfo != null) {
                    Integer capacity = (Integer) stationInfo.get("capacity");
                    System.out.println("工作站 " + startLocation + " 容量: " + capacity);
@@ -203,7 +197,7 @@
        AGVStatus bestAgv = null;
        double minDistance = Double.MAX_VALUE;

        int[] targetCoord = JsonUtils.getCoordinate(targetLocation, pathMapping);
        int[] targetCoord = JsonUtils.getCoordinate(targetLocation, envDataConfig.getPathMapping());
        if (targetCoord == null) {
            System.out.println("无法获取目标位置 " + targetLocation + " 的坐标");
            return availableAgvs.isEmpty() ? null : availableAgvs.get(0);
@@ -216,7 +210,7 @@
                continue;
            }

            int[] agvCoord = JsonUtils.getCoordinate(agv.getPosition(), pathMapping);
            int[] agvCoord = JsonUtils.getCoordinate(agv.getPosition(), envDataConfig.getPathMapping());
            if (agvCoord != null) {
                double distance = JsonUtils.calculateManhattanDistance(agvCoord, targetCoord);