#

vincentlu

2025-03-18 4c9169967a879b54c04b0754ab9830a5a6baa708

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

@@ -1,26 +1,28 @@
package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.core.domain.AgvTaskDto;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.manager.entity.Bus;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.BusStsType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.BusService;
import com.zy.acs.manager.manager.service.SegmentService;
import com.zy.acs.manager.manager.service.TaskService;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.context.event.ApplicationReadyEvent;
import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Date;
import java.util.List;
import java.util.concurrent.TimeUnit;
@@ -34,15 +36,26 @@
@Component
public class KernelScheduler {

    public static int CORE_SCAN_FREQUENCY_MILLISECOND = 15;

    private static final int LOCK_TIMEOUT = 5;

    private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);

    private Thread trafficCalcThread;

    private Thread actionPublicThread;

    @Autowired
    private AgvService agvService;
    @Autowired
    private BusService busService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private ActionService actionService;
    @Autowired
@@ -51,19 +64,25 @@
    private TrafficService trafficService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private LocService locService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;

    @Scheduled(cron = "0/3 * * * * ? ")
    @Scheduled(cron = "0/1 * * * * ? ")
    private void startupBus() throws InterruptedException {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
        if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
        List<Bus> busList = busService.selectBySts(BusStsType.RECEIVE);
        for (Bus bus : busList) {
            mainService.infuseAgvForTask(bus);
            mainService.allocateTask(bus);
        }
        this.lock.unlock();
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    @Scheduled(cron = "0/1 * * * * ? ")
    private void calculateSeg() throws InterruptedException {
        if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
        List<Task> taskList = taskService.selectBySts(TaskStsType.WAITING);
@@ -81,28 +100,78 @@
        }

        for (AgvTaskDto dto : taskDtoList) {
            mainService.mergeMajorTask(dto.getAgvId(), dto.getTaskList());
            mainLockWrapService.buildMajorTask(dto.getAgvId(), dto.getTaskList());
        }
        this.lock.unlock();
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    private void traffic() {
        List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getState, SegmentStateType.WAITING.toString())
        );
        for (Segment segment : segments) {
            trafficService.trigger(segment);
        }
//    @PostConstruct
    @EventListener(ApplicationReadyEvent.class)
    public void init() {
        try { Thread.sleep(1200); } catch (InterruptedException ignore) {}
        // traffic calculate
        this.trafficCalcThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);

                    List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
                            .eq(Segment::getState, SegmentStateType.WAITING.toString())
                    );
                    for (Segment segment : segments) {
                        long startTime = System.currentTimeMillis();
                        trafficService.trigger(segment);
                        log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
                    }

                } catch (Exception e) {
                    log.error("KernelScheduler.trafficCalcThread fail", e);
                }
            }
        });
        this.trafficCalcThread.start();
        // public action
        this.actionPublicThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);

                    List<String> actionGroupIds = actionService.selectGroupNo(ActionStsType.PREPARE);
                    for (String actionGroupId : actionGroupIds) {
                        mainService.publishAction(actionGroupId);
                    }

                } catch (Exception e) {
                    log.error("KernelScheduler.actionPublicThread fail", e);
                }
            }
        });
        this.actionPublicThread.start();
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    private void publishAction(){
        List<String> actionGroupIds = actionService.selectPrepareGroup();
        for (String actionGroupId : actionGroupIds) {
            mainService.publishAction(actionGroupId);
        }
    }
//    @Scheduled(fixedRate = 500) // 500毫秒执行一次，不同步
//    @Scheduled(fixedDelay = 500) // 500毫秒执行一次，同步
//    @Scheduled(cron = "0/1 * * * * ? ")
//    private void traffic() {
//        List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
//                .eq(Segment::getState, SegmentStateType.WAITING.toString())
//        );
//        for (Segment segment : segments) {
//            long startTime = System.currentTimeMillis();
//            trafficService.trigger(segment);
//            log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
//        }
//    }
//
//    @Scheduled(cron = "0/1 * * * * ? ")
//    private void publishAction(){
//        List<String> actionGroupIds = actionService.selectPrepareGroup();
//        for (String actionGroupId : actionGroupIds) {
//            long startTime = System.currentTimeMillis();
//            mainService.publishAction(actionGroupId);
//            log.info("publish action calculation spend {} ms", System.currentTimeMillis() - startTime);
//        }
//    }

    // patch ----------------------------------------------------------------------------------------------

@@ -137,4 +206,75 @@
        }
    }


    @PreDestroy
    public void shutDown(){
        if (this.trafficCalcThread != null) {
            this.trafficCalcThread .interrupt();
        }
        if (this.actionPublicThread != null) {
            this.actionPublicThread .interrupt();
        }
    }



    // auto loc to loc ----------------------------------------------------------------------------------------------

    @Scheduled(cron = "0/1 * * * * ? ")
    private void autoLocToLoc() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }

        // 最多两组bus运行
//        if (1 < busService.count(new LambdaQueryWrapper<Bus>().in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val()))) {
//            return;
//        }

        int agvCount = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel || 0 == agvCount) {
            return;
        }
//        int maxCapacity = agvModel.getBackpack() * agvCount;
        int maxCapacity = agvModel.getBackpack();

        // STOCK
        List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()));
        if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
            return;
        }
        Collections.shuffle(stockList);
        if (stockList.size() > maxCapacity) {
            stockList = stockList.subList(0, maxCapacity);
        }
        int numOfStockLocList = stockList.size();

        // IDLE
        List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val()));
        if (Cools.isEmpty(idleList)) {
            return;
        }
        Collections.shuffle(idleList);
        if (idleList.size() > numOfStockLocList) {
            idleList = idleList.subList(0, numOfStockLocList);
        }

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

            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTaskList().add(taskDto);

        }

        mainService.generateBusAndTask(param, "autoLocToLoc");
    }

}