#

luxiaotao1123

2024-12-03 b8571f010ee3dec5e6cbab95f634082eefce22a8

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

@@ -15,6 +15,7 @@
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -350,13 +351,19 @@
            /**
             * 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),...]
             *
             * ......
@@ -374,6 +381,8 @@
             * 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) -> {
@@ -387,48 +396,35 @@
            }

            // re-order by agv current position
//            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);
//
//            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);
//                    }
//                } else {
//                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
//                        Collections.reverse(theFirstOne);
//                    }
//                }
//            }
            Code currCode = codeService.getById(agvDetail.getRecentCode());
            Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};

            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();

            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 {
                    // 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();
@@ -565,7 +561,7 @@
            travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            travel.setAgvId(agv.getId());
//            travel.setTaskContent(JSON.toJSONString(list));
            travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
            travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
            travel.setState(TravelStateType.RUNNING.toString());
            if (!travelService.save(travel)) {
                throw new BusinessException("travel failed to save");
@@ -611,6 +607,7 @@
                } else {
                    if (null != jam && i == 0) {
                        jam.setAvoSeg(next.getId());
                        jam.setAvoCode(endCode.getId());
                    }
                }
            }