#

luxiaotao1123

2025-01-08 aa6f20d98b5d8e18ae56f9562a78d403a5417b48

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

@@ -34,9 +34,9 @@
@Service
public class PatrolService {

    private static final int SCHEDULE_TIME_INTERVAL = 5;
    private static final int SCHEDULE_TIME_INTERVAL = 100;

    private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
    public static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

@@ -66,31 +66,28 @@
    }

    private void patrolOfMove(String agvNo) {
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        Long agvId = agvService.getAgvId(agvNo);
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        if (taskService.count(new LambdaQueryWrapper<Task>()
                .eq(Task::getAgvId, agv.getId())
                .and(i -> {
                    i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                            .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                })) > 0) {
                .eq(Task::getAgvId, agvId)
                .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                ) > 0) {
            return;
        }
        if (!agvService.judgeEnable(agv.getId())) {
        if (!agvService.judgeEnable(agvId)) {
            return;
        }
        Agv agv = agvService.getById(agvId);
        Code destinationCode = this.getDestinationCode(agv, agvDetail);
        if (null == destinationCode) {
            return;
        }
        if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) {
        if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
            log.info(agv.getUuid() + "开始走行演示...");
        }
    }

    /**
     * buildMinorTask 没有设置lane，lane只需要关注起始点（走行只需要关注终点）
     * 4个地方调用了buildMinorTask，在什么时候、哪里设置task的lane
     * (
         * HandlerController, 手动  （手动是否需要判断lane）
@@ -99,8 +96,6 @@
         * TrafficService,    自动  （寻址时已经处理过 lane） ✔
     * )
     * 评估HandlerController没有调用buildMajorTask，手动创建task的可行性
     * patrolOfMove没有判断lane的容量
     * 抢占待机位
     * agv地图图标变化
     */
    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
@@ -109,7 +104,24 @@
        Code startCode = codeService.getById(agvDetail.getRecentCode());

        List<String> notInCodeList = new ArrayList<>();
        notInCodeList.add("00000151");
        notInCodeList.add("00000301");
        notInCodeList.add("00000302");
        notInCodeList.add("00000303");
        notInCodeList.add("00000351");
        notInCodeList.add("00000353");
        notInCodeList.add("00000401");
        notInCodeList.add("00000402");

        notInCodeList.add("00000311");
        notInCodeList.add("00000312");
        notInCodeList.add("00000313");
        notInCodeList.add("00000361");
        notInCodeList.add("00000363");
        notInCodeList.add("00000411");
        notInCodeList.add("00000412");

        notInCodeList.add("00000046");
        notInCodeList.add("00000047");
        List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));

        Collections.shuffle(list);
@@ -155,7 +167,7 @@
            }
        };

        ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
        ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);

        AGV_PATROL_MAP.put(agvNo, scheduledFuture);
        log.info("已启动AGV " + agvNo + " 的跑库任务。");