#

vincentlu

2025-01-20 68214b4b6d8b04a84f23410e77afa02b63428a32

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java

@@ -5,7 +5,12 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Travel;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.enums.TravelStateType;
@@ -49,13 +54,6 @@
    }};

    private Map<String, JobType> agvJobMap = new ConcurrentHashMap<>();
    public enum JobType {
        CONVEYOR_PICK,
        CONVEYOR_DROP,
        LOC_PICK,
        LOCK_DROP,
        ;
    }

    @Autowired
    private AgvService agvService;
@@ -91,26 +89,17 @@
            return;
        }

//        // 已使用背篓数量
//        Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
//        if (null == usedSlots) {
//            return;
//        }
//        AgvModel agvModel = agvModelService.getByAgvId(agvId);
//        // 背篓空闲数
//        int remainingBackpack = Math.max(agvModel.getBackpack() - usedSlots, 0);


        String destinationCodeData = null;

        JobType jobType = this.agvJobMap.get(agvNo);
        if (null == jobType) {
            this.agvJobMap.put(agvNo, JobType.LOC_PICK);
            CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
            jobType = JobType.LOC_PICK;
        }

        String destinationCodeData = null;
        switch (jobType) {
            case LOC_PICK:
                // 5, 4, 3, 2, 1
                int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
                if (0 < locPickRemaining) {
                    destinationCodeData = this.getLocCode(agvNo, null);
@@ -123,8 +112,9 @@
                destinationCodeData = this.getConveyorPickCode(agvNo);
                break;
            case LOCK_DROP:
                // 0, 1, 2, 3, 4
                int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
                if (0 < locDropRemaining) {
                if (locDropRemaining < agvModelService.getByAgvId(agvId).getBackpack()) {
                    destinationCodeData = this.getLocCode(agvNo, null);
                }
                break;
@@ -132,7 +122,6 @@
                log.warn("AGV {}: 未知阶段: {}", agvNo, jobType);
                break;
        }

        if (Cools.isEmpty(destinationCodeData)) {
            return;
        }
@@ -140,6 +129,7 @@
        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始作业演示...", agvNo);

            CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
            switch (jobType) {
                case LOC_PICK:
                    Integer usedSlotsByLocPick = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
@@ -175,7 +165,6 @@
                    break;
            }
        }

    }

    public String getLocCode(String agvNo, AgvDetail agvDetail) {
@@ -330,6 +319,7 @@
        if (cancelled) {
            AGV_PATROL_MAP.remove(agvNo);
            CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
            CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
            this.agvJobMap.remove(agvNo);
            log.info("已停止AGV " + agvNo + " 的跑库任务。");
            return R.ok("已停止AGV " + agvNo + " 的跑库任务。");