1

zhang

2025-09-05 1864f916e0359d0814416cf94feda3a3662ed193

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java

@@ -57,42 +57,163 @@
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;

    private Integer num = 0;

//    @Scheduled(fixedRate = 500) // 固定频率执行，不同步
    private Integer max = 2;

    //    @Scheduled(fixedRate = 500) // 固定频率执行，不同步
    @Scheduled(fixedDelay = 1000) // 固定频率执行，同步
//    @Scheduled(cron = "0/1 * * * * ? ")
    private void execute() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }

        this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
        this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
        this.autoRun(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
        this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
        this.autoRun(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
        if (configService.getVal("TaskAssignMode", Boolean.class)) {
            String autoRunAreas = configService.getVal("autoRunAreas", String.class);
            if (Cools.isEmpty(autoRunAreas)) {
                return;
            }
            for (char c : autoRunAreas.toCharArray()) {
                switch (c) {
                    case '1':
                        this.autoRun(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
                        break;
                    case '2':
                        this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
                        break;
                    case '3':
                        this.autoRun(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
                        break;
                    case '4':
                        this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
                        break;
                    case '5':
                        this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                        break;
                    default:
                        break;
                }
            }
        } else {
            if (configService.getVal("InAndOutMode", Boolean.class, false)) {
                String autoRunAreas = configService.getVal("autoRunAreas", String.class);
                if (Cools.isEmpty(autoRunAreas)) {
                    return;
                }
                for (char c : autoRunAreas.toCharArray()) {
                    switch (c) {
                        case '1':
                            this.autoOut(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
                            break;
                        case '2':
                            this.autoOut(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
                            break;
                        case '3':
                            this.autoOut(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
                            break;
                        case '4':
                            this.autoOut(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
                            break;
                        case '5':
                            this.autoOut(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                            break;
                        default:
                            break;
                    }
                }
            }
        }
    }

    private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        if (0 == availableAgvCount) { return; }
        if (0 == availableAgvCount) {
            return;
        }

        List<String> staPreNos = getStaPrefixes(staGroupList);
        String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);

        // 入库
        this.runStaToLoc(locGroupList, staGroupList, agvGroupList);

        this.runStaToLoc(locGroupList, staGroupList, staTaskMemo);
        // 出库
        this.runLocToSta(locGroupList, staGroupList, agvGroupList);
        this.runLocToSta(locGroupList, staGroupList, staTaskMemo);

        // 移库
        this.runLocToLoc(locGroupList, agvGroupList);
        this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
    }

    private void autoOut(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        if (0 == availableAgvCount) {
            return;
        }
        List<String> staPreNos = getStaPrefixes(staGroupList);
        String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);
        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, 33).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
        if (Cools.isEmpty(list) && num < max) {
            // 出库
            this.runLocToSSXSta(locGroupList, staGroupList, staTaskMemo);
        }
        List<Task> list2 = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, 34).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
        if (Cools.isEmpty(list2) && num > 0) {
            // 入库
            this.runXXSStaToLoc(locGroupList, staGroupList, staTaskMemo);
        }
    }

    // 入库
    private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
    private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

        List<String> staPreNos = getStaPrefixes(staGroupList);
        String memo = "DEMO_STA_" + String.join("-", staPreNos);

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
            return;
        }

        // STOCK
        LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>().eq(Sta::getStaSts, StaStsType.STOCK.val()).eq(Sta::getStatus, StatusType.ENABLE.val).eq(Sta::getInEnable, "Y").in(Sta::getStaNo, staGroupList);
        List<Sta> stockList = staService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) {
            return;
        }
        Collections.shuffle(stockList);

        // IDLE
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
        if (null != startRow) {
            idleWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            idleWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> idleList = locService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
        }
        Collections.shuffle(idleList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(agvModel.getBackpack(), Math.min(stockList.size(), idleList.size())); i++) {
            Sta stockSta = stockList.get(i);
            Loc idleLoc = idleList.get(i);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriSta(stockSta.getStaNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));

            param.getTaskList().add(taskDto);
        }

        mainService.generateBusAndTask(param, memo);
    }

    private void runXXSStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);


        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
@@ -101,46 +222,51 @@

        // STOCK
        LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.STOCK.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
                //.eq(Sta::getStaSts, StaStsType.STOCK.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val).eq(Sta::getInEnable, "Y").in(Sta::getStaNo, staGroupList);
        List<Sta> stockList = staService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) { return; }
        if (Cools.isEmpty(stockList)) {
            return;
        }
        Collections.shuffle(stockList);

        // IDLE
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
        if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
        if (null != startRow) {
            idleWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            idleWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> idleList = locService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) { return; }
        if (Cools.isEmpty(idleList)) {
            return;
        }
        Collections.shuffle(idleList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(agvModel.getBackpack(), Math.min(stockList.size(), idleList.size())) ; i++) {
            Sta stockSta = stockList.get(i);
        for (int i = 0; i < max; i++) {
            Sta stockSta = stockList.get(0);
            Loc idleLoc = idleList.get(i);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriSta(stockSta.getStaNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
            taskDto.setPriority(99);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));

            param.getTaskList().add(taskDto);
            num--;
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 出库
    private void runLocToSta(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
    private void runLocToSta(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

        List<String> staPreNos = getStaPrefixes(staGroupList);
        String memo = "DEMO_STA_" + String.join("-", staPreNos);

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
@@ -149,10 +275,7 @@
        int maxCapacity = agvModel.getBackpack();

        // STA IDLE
        LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.IDLE.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
        LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>().eq(Sta::getStaSts, StaStsType.IDLE.val()).eq(Sta::getStatus, StatusType.ENABLE.val).eq(Sta::getOutEnable, "Y").in(Sta::getStaNo, staGroupList);
        List<Sta> idleList = staService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
@@ -161,8 +284,12 @@

        // LOC STOCK
        LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
        if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
        if (null != startRow) {
            stockWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            stockWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> stockList = locService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) {
            return;
@@ -179,7 +306,7 @@
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestSta(idleSta.getStaNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));

            param.getTaskList().add(taskDto);
        }
@@ -187,8 +314,62 @@
        mainService.generateBusAndTask(param, memo);
    }


    private void runLocToSSXSta(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
            return;
        }
        int maxCapacity = agvModel.getBackpack();

        // STA IDLE
        LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
                //.eq(Sta::getStaSts, StaStsType.IDLE.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val).eq(Sta::getOutEnable, "Y").in(Sta::getStaNo, staGroupList);
        List<Sta> idleList = staService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
        }
        Collections.shuffle(idleList);

        // LOC STOCK
        LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
        if (null != startRow) {
            stockWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            stockWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> stockList = locService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) {
            return;
        }
        Collections.shuffle(stockList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < max; i++) {
            Loc stockLoc = stockList.get(i);
            Sta idleSta = idleList.get(0);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestSta(idleSta.getStaNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));

            param.getTaskList().add(taskDto);
            num++;
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 移库
    private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
    private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList, String staTaskMemo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

@@ -197,10 +378,7 @@
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);

        // 最多 ? 组bus运行
        if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
                .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
                .eq(Bus::getMemo, memo)
        )) {
        if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>().in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val()).in(Bus::getMemo, memo, staTaskMemo))) {
            return;
        }

@@ -212,8 +390,12 @@

        // STOCK
        LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
        if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
        if (null != startRow) {
            stockWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            stockWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> stockList = locService.list(stockWrapper);
        if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
            return;
@@ -222,8 +404,12 @@

        // IDLE
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
        if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
        if (null != startRow) {
            idleWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            idleWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> idleList = locService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
@@ -239,7 +425,7 @@
            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));

            param.getTaskList().add(taskDto);
        }