1

zhang

2025-12-31 8384040c3204f1bfa8fe30d264ef87b4d3b317ff

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

@@ -4,7 +4,6 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.common.constant.AgvAreaDispatcher;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
@@ -42,7 +41,7 @@

    private ScheduledExecutorService scheduler = null;

    private List<String> CODE_DATA_CACHE = new ArrayList<>();
    private List<String> ALL_CODE_DATA_CACHE = new ArrayList<>();

    private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();

@@ -74,6 +73,24 @@
    private ConfigService configService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private AgvAreaDispatcher agvAreaDispatcher;

    @PostConstruct
    public void init() {
        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        if (count > 0) {
            this.scheduler = Executors.newScheduledThreadPool(count);
        }
        // init all code data
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
        this.ALL_CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

        // int all loc code data
        List<Code> locCodeList = codeService.getAllLocCode();
        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

    }

    // pick & drop logic --------------------------------------------------

@@ -197,15 +214,20 @@
     * agv地图图标变化
     */
    public String getDestinationCode(String agvNo, AgvDetail agvDetail) {

        Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
        Set<String> notInCodeSet = new HashSet<>();
        Long agvId = agvDetail.getAgvId();

        List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
        List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
        List<String> codeList = null;
        if (agvAreaDispatcher.isAgvExistsInAnyArea(agvId)) {
            codeList = agvAreaDispatcher.getCodesByAgvId(agvId);
        } else {
            codeList = ALL_CODE_DATA_CACHE;
        }
        Collections.shuffle(codeList);

        for (String endCodeData : codeList) {
            if (disableCodeList.contains(endCodeData)) { continue; }
            if (notInCodeSet.contains(endCodeData)) { continue; }
            Code endCode = codeService.getCacheByData(endCodeData);

            // valid lane
@@ -243,7 +265,7 @@
                executePatrolLogic(agvNo);
//                executeUShapeConveyor(agvNo);
            } catch (Exception e) {
                log.error("执行AGV{}跑库任务时发生异常: {}", agvNo, e.getMessage());
                log.error("执行AGV{}跑库任务时发生异常", agvNo, e);
            }
        };

@@ -274,22 +296,6 @@
            log.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
            return R.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
        }
    }

    @PostConstruct
    public void init() {
        int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        if (count > 0) {
            this.scheduler = Executors.newScheduledThreadPool(count);
        }
        // init all code data
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
        this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

        // int all loc code data
        List<Code> locCodeList = codeService.getAllLocCode();
        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

    }

    @PreDestroy