#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -4,8 +4,14 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
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 +51,8 @@
    }};

    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 +88,9 @@
            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;
        }
@@ -130,40 +127,8 @@

        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));
        }
    }

@@ -235,30 +200,14 @@

        Code startCode = codeService.getCacheById(agvDetail.getRecentCode());

        Set<String> notInCodeSet = new HashSet<>();
        notInCodeSet.add("00000301");
        notInCodeSet.add("00000302");
        notInCodeSet.add("00000303");
        notInCodeSet.add("00000351");
        notInCodeSet.add("00000353");
        notInCodeSet.add("00000401");
        notInCodeSet.add("00000402");
        List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
        List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
        if (!Cools.isEmpty(codeList)) {
            Collections.shuffle(codeList);
        }

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

        notInCodeSet.add("00000046");
        notInCodeSet.add("00000047");

        Collections.shuffle(CODE_DATA_CACHE);

        for (String endCodeData : CODE_DATA_CACHE) {
            if (notInCodeSet.contains(endCodeData)) { continue; }
        for (String endCodeData : codeList) {
            if (disableCodeList.contains(endCodeData)) { continue; }
            Code endCode = codeService.getCacheByData(endCodeData);

            // valid lane
@@ -273,7 +222,7 @@
            }
        }

        return CODE_DATA_CACHE.stream().findFirst().orElse(null);
        return codeList.stream().findFirst().orElse(null);
    }

    // ---------------------------------------------------------------------------
@@ -293,10 +242,10 @@

        Runnable patrolTask = () -> {
            try {
//                executePatrolLogic(agvNo);
                executeUShapeConveyor(agvNo);
                executePatrolLogic(agvNo);
//                executeUShapeConveyor(agvNo);
            } catch (Exception e) {
                log.error("执行AGV{}跑库任务时发生异常: {}", agvNo, e.getMessage());
                log.error("执行AGV{}跑库任务时发生异常", agvNo, e);
            }
        };

@@ -319,8 +268,9 @@
        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。");