| | |
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| | | // calculate wight = backpack + distance |
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| | | private int calcAllocateWeight(String agvNo, Task task) { |
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| | | int weight = 0; |
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| | | Agv agv = agvService.selectByUuid(agvNo); |
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| | | Long agvId = agvService.getAgvId(agvNo); |
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| | | |
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| | | // backpack |
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| | | List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId()); |
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| | | List<Task> transportTasks = taskService.findTransportTasksByAgv(agvId); |
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| | | if (!Cools.isEmpty(transportTasks)) { |
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| | | weight = weight + transportTasks.size() * 100000; |
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| | | } |
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| | | |
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| | | // distance |
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| | | // from |
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| | | AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); |
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| | | AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId); |
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| | | Code agvCurrCode = codeService.getById(agvDetail.getRecentCode()); |
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| | | Double[] fromPosition = new Double[]{agvCurrCode.getX(), agvCurrCode.getY()}; |
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| | | // to |
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