| | |
| | | import com.zy.acs.manager.common.domain.TaskDto; |
| | | import com.zy.acs.manager.common.domain.param.HandlerPublishParam; |
| | | import com.zy.acs.manager.common.exception.BusinessException; |
| | | import com.zy.acs.manager.common.utils.CommonUtil; |
| | | import com.zy.acs.manager.core.domain.AgvBackpackDto; |
| | | import com.zy.acs.manager.core.domain.Lane; |
| | | import com.zy.acs.manager.core.domain.TaskPosDto; |
| | |
| | | for (Task task : taskList) { |
| | | Agv agv = allocateService.execute(task); |
| | | if (null == agv) { |
| | | log.warn("Task[{}] has an issue, because it failed to checkout agv which is idle...", task.getSeqNum()); |
| | | // log.warn("Task[{}] has an issue, because it failed to checkout agv which is idle...", task.getSeqNum()); |
| | | continue; |
| | | } |
| | | task.setAgvId(agv.getId()); |
| | |
| | | // valid ----------------------------------------------- |
| | | Agv agv = agvService.getById(agvId); |
| | | if (!agvService.judgeEnable(agv.getId(), true)) { |
| | | throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用..."); |
| | | return; |
| | | // throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用..."); |
| | | } |
| | | if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) { |
| | | throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败,已存在执行任务..."); |
| | |
| | | /** |
| | | * 1.Map<String, List<TaskPosDto>> groups |
| | | * |
| | | * key: 1000 + ORI_LOC |
| | | * key: 1000 + ORIGIN |
| | | * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] |
| | | * |
| | | * key: 3000 + ORI_LOC |
| | | * key: 3000 + ORIGIN |
| | | * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] |
| | | * |
| | | * key: 2000 + ORI_LOC |
| | | * key: 2000 + ORIGIN |
| | | * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] |
| | | * |
| | | * key: 1000 + DESTINATION |
| | | * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] |
| | | * |
| | | * key: 2000 + DESTINATION |
| | | * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...] |
| | | * |
| | | * ...... |
| | |
| | | * 对所有巷道进行有序排序,先是针对List为一个单位,对他们进行FirstWeight排序,相当于表1的key的数值进行有序排序 |
| | | * List<TaskPosDto>: task list on the same lane |
| | | * ArrayList<List<TaskPosDto>>: all the task list by one agv |
| | | * |
| | | * tip: ORI 和 DEST 永远不会存在同一个 List |
| | | */ |
| | | ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values()); |
| | | list.sort((o1, o2) -> { |
| | |
| | | Code currCode = codeService.getById(agvDetail.getRecentCode()); |
| | | Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()}; |
| | | |
| | | List<TaskPosDto> theFirstOne = list.get(0); |
| | | List<TaskPosDto> theLastOne = list.get(list.size() - 1); |
| | | List<List<TaskPosDto>> pickGroups = new ArrayList<>(); |
| | | List<List<TaskPosDto>> dropGroups = new ArrayList<>(); |
| | | |
| | | if (list.size() == 1) { |
| | | TaskPosDto head = theFirstOne.get(0); |
| | | TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1); |
| | | |
| | | int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy()); |
| | | int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy()); |
| | | |
| | | if (distanceByTail < distanceByHead) { |
| | | Collections.reverse(theFirstOne); |
| | | } |
| | | |
| | | } else { |
| | | TaskPosDto headOfFirst = theFirstOne.get(0); |
| | | TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1); |
| | | |
| | | TaskPosDto headOfLast = theLastOne.get(0); |
| | | TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1); |
| | | |
| | | int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy()); |
| | | int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy()); |
| | | |
| | | int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy()); |
| | | int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy()); |
| | | |
| | | if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) { |
| | | Collections.reverse(list); |
| | | |
| | | if (distanceByTailOfLast < distanceByHeadOfLast) { |
| | | Collections.reverse(theLastOne); |
| | | } |
| | | for (List<TaskPosDto> group : list) { |
| | | // Assume 一个任务组中所有TaskPosDto的PosType.brief相同 |
| | | TaskPosDto.PosType posType = group.get(0).getPosType(); |
| | | if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) { |
| | | pickGroups.add(group); |
| | | } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) { |
| | | dropGroups.add(group); |
| | | } else { |
| | | if (distanceByTailOfFirst < distanceByHeadOfFirst) { |
| | | Collections.reverse(theFirstOne); |
| | | } |
| | | // import tip: the list must only contain ORIGIN and DESTINATION |
| | | log.error("the list must only contain ORIGIN and DESTINATION"); |
| | | } |
| | | } |
| | | |
| | | currPosition = allocateService.pac(currPosition, pickGroups); |
| | | currPosition = allocateService.pac(currPosition, dropGroups); |
| | | |
| | | List<List<TaskPosDto>> reorderedList = new ArrayList<>(); |
| | | reorderedList.addAll(pickGroups); |
| | | reorderedList.addAll(dropGroups); |
| | | |
| | | list.clear(); |
| | | list.addAll(reorderedList); |
| | | |
| | | |
| | | // generate travel |
| | | Travel travel = new Travel(); |
| | | travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); |