#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -1,21 +1,20 @@
package com.zy.acs.manager.core.scheduler;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
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.constant.StaGroupConstant;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Bus;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.enums.BusStsType;
import com.zy.acs.manager.manager.enums.LocStsType;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -23,12 +22,13 @@
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.util.Collections;
import java.util.List;
import java.util.*;

@Slf4j
@Component
public class AutoRunScheduler {

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
@@ -51,36 +51,168 @@
    @Autowired
    private LocService locService;
    @Autowired
    private StaService staService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;


//    @Scheduled(fixedRate = 500) // 固定频率执行，不同步
    @Scheduled(fixedDelay = 1000) // 固定频率执行，同步
//    @Scheduled(cron = "0/1 * * * * ? ")
    private void autoLocToLoc() {
    private void execute() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { 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);
        String autoRunAreas = configService.getVal("autoRunAreas", String.class);
        if (Cools.isEmpty(autoRunAreas)) { return; }
        for (char c : autoRunAreas.toCharArray()) {
            switch (c) {
                case '1':
                    this.autoRun(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
                    break;
                case '2':
                    this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
                    break;
                case '3':
                    this.autoRun(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
                    break;
                case '4':
                    this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
                    break;
                case '5':
                    this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                    break;
                default:
                    break;
            }
        }
    }

    private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
    private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        if (0 == availableAgvCount) { return; }

        List<String> staPreNos = getStaPrefixes(staGroupList);
        String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);

        // 入库
        this.runStaToLoc(locGroupList, staGroupList, staTaskMemo);
        // 出库
        this.runLocToSta(locGroupList, staGroupList, staTaskMemo);

        // 移库
        this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
    }

    // 入库
    private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

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

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

        // STOCK
        LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.STOCK.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
        List<Sta> stockList = staService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) { return; }
        Collections.shuffle(stockList);

        // IDLE
        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; }
        Collections.shuffle(idleList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(agvModel.getBackpack(), Math.min(stockList.size(), idleList.size())) ; i++) {
            Sta stockSta = stockList.get(i);
            Loc idleLoc = idleList.get(i);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriSta(stockSta.getStaNo());
            taskDto.setDestLoc(idleLoc.getLocNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTaskList().add(taskDto);
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 出库
    private void runLocToSta(List<Integer> locGroupList, List<String> staGroupList, String memo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

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

        // STA IDLE
        LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.IDLE.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
        List<Sta> idleList = staService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
        }
        Collections.shuffle(idleList);

        // LOC STOCK
        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)) {
            return;
        }
        Collections.shuffle(stockList);

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < Math.min(maxCapacity, Math.min(idleList.size(), stockList.size())); i++) {
            Loc stockLoc = stockList.get(i);
            Sta idleSta = idleList.get(i);

            TaskDto taskDto = new TaskDto();
            taskDto.setOriLoc(stockLoc.getLocNo());
            taskDto.setDestSta(idleSta.getStaNo());
            taskDto.setPriority(100);
            taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));

            param.getTaskList().add(taskDto);
        }

        mainService.generateBusAndTask(param, memo);
    }

    // 移库
    private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList, String staTaskMemo) {
        Integer startRow = Collections.min(locGroupList);
        Integer endRow = Collections.max(locGroupList);

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

        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);

        // 最多 ? 组bus运行
        if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
        if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
                .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
                .eq(Bus::getMemo, memo)
                .in(Bus::getMemo, memo, staTaskMemo)
        )) {
            return;
        }
@@ -100,10 +232,6 @@
            return;
        }
        Collections.shuffle(stockList);
        if (stockList.size() > maxCapacity) {
            stockList = stockList.subList(0, maxCapacity);
        }
        int numOfStockLocList = stockList.size();

        // IDLE
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
@@ -114,13 +242,10 @@
            return;
        }
        Collections.shuffle(idleList);
        if (idleList.size() > numOfStockLocList) {
            idleList = idleList.subList(0, numOfStockLocList);
        }

        OpenBusSubmitParam param = new OpenBusSubmitParam();
        param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
        for (int i = 0; i < numOfStockLocList; i++) {
        for (int i = 0; i < Math.min(maxCapacity, Math.min(stockList.size(), idleList.size())); i++) {
            Loc stockLoc = stockList.get(i);
            Loc idleLoc = idleList.get(i);

@@ -135,5 +260,33 @@
        mainService.generateBusAndTask(param, memo);
    }

    public static List<String> getStaPrefixes(List<String> staGroupList) {
        Set<String> rowSet = new HashSet<>();
        for (String s : staGroupList) {
            rowSet.add(s.split("-")[0]);
        }
        List<String> result = new ArrayList<>(rowSet);
        result.sort(Comparator.comparingInt(Integer::parseInt));
        return result;
    }

    private int getAvailableAgvCount(List<String> agvNos) {
        int res = 0;
        if (Cools.isEmpty(agvNos)) {
            return res;
        }
        for (String agvNo : agvNos) {
            if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
                continue;
            }
            Agv agv = agvService.selectByUuid(agvNo);
            if (!agv.getStatusBool()) {
                continue;
            }
            res++;
        }

        return res;
    }

}