#

vincentlu

2025-03-27 cd67e854d4715bc92a16dc7bffdbde7be1da9957

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java

@@ -4,6 +4,8 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.core.constant.AgvGroupConstant;
import com.zy.acs.manager.core.constant.LocGroupConstant;
import com.zy.acs.manager.core.domain.AgvTaskDto;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
@@ -15,9 +17,12 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.context.event.ApplicationReadyEvent;
import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Date;
@@ -33,8 +38,15 @@
@Component
public class KernelScheduler {

    public static int CORE_SCAN_FREQUENCY_MILLISECOND = 15;

    private static final int LOCK_TIMEOUT = 5;

    private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);

    private Thread trafficCalcThread;

    private Thread actionPublicThread;

    @Autowired
    private AgvService agvService;
@@ -61,7 +73,7 @@
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;

    @Scheduled(cron = "0/3 * * * * ? ")
    @Scheduled(cron = "0/1 * * * * ? ")
    private void startupBus() throws InterruptedException {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
        if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
@@ -72,7 +84,7 @@
        this.lock.unlock();
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    @Scheduled(cron = "0/1 * * * * ? ")
    private void calculateSeg() throws InterruptedException {
        if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
        List<Task> taskList = taskService.selectBySts(TaskStsType.WAITING);
@@ -95,23 +107,73 @@
        this.lock.unlock();
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    private void traffic() {
        List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
                .eq(Segment::getState, SegmentStateType.WAITING.toString())
        );
        for (Segment segment : segments) {
            trafficService.trigger(segment);
        }
//    @PostConstruct
    @EventListener(ApplicationReadyEvent.class)
    public void init() {
        try { Thread.sleep(1200); } catch (InterruptedException ignore) {}
        // traffic calculate
        this.trafficCalcThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);

                    List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
                            .eq(Segment::getState, SegmentStateType.WAITING.toString())
                    );
                    for (Segment segment : segments) {
                        long startTime = System.currentTimeMillis();
                        trafficService.trigger(segment);
                        log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
                    }

                } catch (Exception e) {
                    log.error("KernelScheduler.trafficCalcThread fail", e);
                }
            }
        });
        this.trafficCalcThread.start();
        // public action
        this.actionPublicThread = new Thread(() -> {
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);

                    List<String> actionGroupIds = actionService.selectGroupNo(ActionStsType.PREPARE);
                    for (String actionGroupId : actionGroupIds) {
                        mainService.publishAction(actionGroupId);
                    }

                } catch (Exception e) {
                    log.error("KernelScheduler.actionPublicThread fail", e);
                }
            }
        });
        this.actionPublicThread.start();
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    private void publishAction(){
        List<String> actionGroupIds = actionService.selectPrepareGroup();
        for (String actionGroupId : actionGroupIds) {
            mainService.publishAction(actionGroupId);
        }
    }
//    @Scheduled(fixedRate = 500) // 500毫秒执行一次，不同步
//    @Scheduled(fixedDelay = 500) // 500毫秒执行一次，同步
//    @Scheduled(cron = "0/1 * * * * ? ")
//    private void traffic() {
//        List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
//                .eq(Segment::getState, SegmentStateType.WAITING.toString())
//        );
//        for (Segment segment : segments) {
//            long startTime = System.currentTimeMillis();
//            trafficService.trigger(segment);
//            log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
//        }
//    }
//
//    @Scheduled(cron = "0/1 * * * * ? ")
//    private void publishAction(){
//        List<String> actionGroupIds = actionService.selectPrepareGroup();
//        for (String actionGroupId : actionGroupIds) {
//            long startTime = System.currentTimeMillis();
//            mainService.publishAction(actionGroupId);
//            log.info("publish action calculation spend {} ms", System.currentTimeMillis() - startTime);
//        }
//    }

    // patch ----------------------------------------------------------------------------------------------

@@ -147,9 +209,15 @@
    }





    @PreDestroy
    public void shutDown(){
        if (this.trafficCalcThread != null) {
            this.trafficCalcThread .interrupt();
        }
        if (this.actionPublicThread != null) {
            this.actionPublicThread .interrupt();
        }
    }

    // auto loc to loc ----------------------------------------------------------------------------------------------

@@ -157,22 +225,41 @@
    private void autoLocToLoc() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }

        // 最多两组bus运行
//        if (1 < busService.count(new LambdaQueryWrapper<Bus>().in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val()))) {
//            return;
//        }
        this.runLocToLoc(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
        this.runLocToLoc(LocGroupConstant.LEFT_LOC_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
        this.runLocToLoc(LocGroupConstant.MIDDLE_LOC_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
        this.runLocToLoc(LocGroupConstant.RIGHT_LOC_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
        this.runLocToLoc(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
    }

        int agvCount = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel || 0 == agvCount) {
    private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

        String memo = "DEMO_" + startRow + "-" + endRow;

        int agvCount = agvGroupList.size();

        // 最多 ? 组bus运行
        if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
                .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
                .eq(Bus::getMemo, memo)
        )) {
            return;
        }
//        int maxCapacity = agvModel.getBackpack() * agvCount;

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
            return;
        }
        int maxCapacity = agvModel.getBackpack();

        // STOCK
        List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()));
        if (Cools.isEmpty(stockList)) {
        LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
        if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
        List<Loc> stockList = locService.list(stockWrapper);
        if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
            return;
        }
        Collections.shuffle(stockList);
@@ -182,7 +269,10 @@
        int numOfStockLocList = stockList.size();

        // IDLE
        List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val()));
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
        if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
        if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
        List<Loc> idleList = locService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
        }
@@ -203,10 +293,9 @@
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTaskList().add(taskDto);

        }

        mainService.generateBusAndTask(param, "autoLocToLoc");
        mainService.generateBusAndTask(param, memo);
    }

}