#

vincentlu

2025-01-21 a079fff1e7bae25a5e29f73709b8e9972216f7ef

 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;
@@ -45,17 +50,8 @@
    }};

    private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
        add("00000246");
        add("00000146");
    }};

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

    @Autowired
    private AgvService agvService;
@@ -91,9 +87,9 @@
            return;
        }

        JobType jobType = this.agvJobMap.get(agvNo);
        JobType jobType = CoreCache.AGV_MOCK_JOB_CACHE.get(agvNo);
        if (null == jobType) {
            this.agvJobMap.put(agvNo, JobType.LOC_PICK);
            CoreCache.AGV_MOCK_JOB_CACHE.put(agvNo, JobType.LOC_PICK);
            CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
            jobType = JobType.LOC_PICK;
        }
@@ -101,6 +97,7 @@
        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);
@@ -113,8 +110,9 @@
                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;
@@ -128,40 +126,8 @@

        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始作业演示...", agvNo);
            switch (jobType) {
                case LOC_PICK:
                    Integer usedSlotsByLocPick = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
                    usedSlotsByLocPick++;

                    if (Objects.equals(agvModelService.getByAgvId(agvId).getBackpack(), usedSlotsByLocPick)) {
                        this.agvJobMap.put(agvNo, JobType.CONVEYOR_DROP);
                    } else {
                        CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, usedSlotsByLocPick);
                    }
                    break;
                case CONVEYOR_DROP:
                    CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);

                    this.agvJobMap.put(agvNo, JobType.CONVEYOR_PICK);
                    break;
                case CONVEYOR_PICK:
                    CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, agvModelService.getByAgvId(agvId).getBackpack());

                    this.agvJobMap.put(agvNo, JobType.LOCK_DROP);
                    break;
                case LOCK_DROP:
                    Integer usedSlotsByLocDrop = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
                    usedSlotsByLocDrop--;

                    if (usedSlotsByLocDrop == 0) {
                        this.agvJobMap.put(agvNo, JobType.LOC_PICK);
                    } else {
                        CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, usedSlotsByLocDrop);
                    }
                    break;
                default:
                    break;
            }
            CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
        }
    }

@@ -317,8 +283,9 @@
        if (cancelled) {
            AGV_PATROL_MAP.remove(agvNo);
            CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
            this.agvJobMap.remove(agvNo);
            log.info("已停止AGV " + agvNo + " 的跑库任务。");
            CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
            CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
            log.info("已停止AGV {} 的跑库任务。", agvNo);
            return R.ok("已停止AGV " + agvNo + " 的跑库任务。");
        } else {
            log.error("未能成功停止AGV " + agvNo + " 的跑库任务。");