#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -2,18 +2,20 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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.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.Task;
import com.zy.acs.manager.manager.entity.Travel;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.TaskService;
import com.zy.acs.manager.manager.enums.TravelStateType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -21,11 +23,9 @@

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.*;
import java.util.stream.Collectors;

/**
 * Created by vincent on 11/9/2024
@@ -34,13 +34,25 @@
@Service
public class PatrolService {

    private static final int SCHEDULE_TIME_INTERVAL = 300;
    private static final int SCHEDULE_TIME_INTERVAL = 100;

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

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    private ScheduledExecutorService scheduler = null;

    private List<String> CODE_DATA_CACHE = new ArrayList<>();

    private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();

    private List<String> CONVEYOR_DROP_CODE_DATA_CACHE = new ArrayList<String>(){{
        add("00000048");
    }};

    private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
        add("00000146");
    }};

    @Autowired
    private AgvService agvService;
@@ -55,95 +67,163 @@
    @Autowired
    private MapService mapService;
    @Autowired
    private LaneService laneService;
    private TravelService travelService;
    @Autowired
    private AllocateService allocateService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private AgvModelService agvModelService;

    // pick & drop logic --------------------------------------------------

    private void executeUShapeConveyor(String agvNo) {
        Long agvId = agvService.getAgvId(agvNo);
        if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
                .eq(Travel::getAgvId, agvId)
                .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
            return;
        }
        if (!agvService.judgeEnable(agvId)) {
            return;
        }

        JobType jobType = CoreCache.AGV_MOCK_JOB_CACHE.get(agvNo);
        if (null == jobType) {
            CoreCache.AGV_MOCK_JOB_CACHE.put(agvNo, JobType.LOC_PICK);
            CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
            jobType = JobType.LOC_PICK;
        }

        String destinationCodeData = null;
        switch (jobType) {
            case LOC_PICK:
                // 5, 4, 3, 2, 1
                int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
                if (0 < locPickRemaining) {
                    destinationCodeData = this.getLocCode(agvNo, null);
                }
                break;
            case CONVEYOR_DROP:
                destinationCodeData = this.getConveyorDropCode(agvNo);
                break;
            case CONVEYOR_PICK:
                destinationCodeData = this.getConveyorPickCode(agvNo);
                break;
            case LOCK_DROP:
                // 0, 1, 2, 3, 4
                int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
                if (locDropRemaining < agvModelService.getByAgvId(agvId).getBackpack()) {
                    destinationCodeData = this.getLocCode(agvNo, null);
                }
                break;
            default:
                log.warn("AGV {}: 未知阶段: {}", agvNo, jobType);
                break;
        }
        if (Cools.isEmpty(destinationCodeData)) {
            return;
        }

        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始作业演示...", agvNo);

            CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
        }
    }

    public String getLocCode(String agvNo, AgvDetail agvDetail) {
        if (LOC_CODE_DATA_CACHE.isEmpty()) {
            return null;
        }
        Collections.shuffle(LOC_CODE_DATA_CACHE);
        for (String locCodeData : LOC_CODE_DATA_CACHE) {
            Code locCode = codeService.getCacheByData(locCodeData);

            // valid lane
            if (!allocateService.validCapacityOfLane(agvNo, locCode)) {
                continue;
            }

            return locCodeData;
        }
        return LOC_CODE_DATA_CACHE.stream().findFirst().orElse(null);
    }

    public String getConveyorDropCode(String agvNo) {
        return CONVEYOR_DROP_CODE_DATA_CACHE.stream().findFirst().orElse(null);
    }

    public String getConveyorPickCode(String agvNo) {
        return CONVEYOR_PICK_CODE_DATA_CACHE.stream().findFirst().orElse(null);
    }


    // pure move logic --------------------------------------------------

    private void executePatrolLogic(String agvNo) {
        this.patrolOfMove(agvNo);
    }

    private void patrolOfMove(String agvNo) {
        Agv agv = agvService.selectByUuid(agvNo);
        AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
        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) {
        Long agvId = agvService.getAgvId(agvNo);
        if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
                .eq(Travel::getAgvId, agvId)
                .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
            return;
        }
        if (!agvService.judgeEnable(agv.getId())) {
        if (!agvService.judgeEnable(agvId)) {
            return;
        }
        Code destinationCode = this.getDestinationCode(agv, agvDetail);
        if (null == destinationCode) {
        AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
        String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
        if (Cools.isEmpty(destinationCodeData)) {
            return;
        }
        if (mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, destinationCode.getData(), null)) {
            log.info(agv.getUuid() + "开始走行演示...");
        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始走行演示...", agvNo);
        }
    }

    /**
     * 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）
         * MaintainScheduler, 自动  （一般不需要考虑 lane）
         * PatrolService,     自动  （需要预处理 lane） ✔
         * TrafficService,    自动  （寻址时已经处理过 lane） ✔
     * HandlerController, 手动  （手动是否需要判断lane）
     * MaintainScheduler, 自动  （一般不需要考虑 lane）
     * PatrolService,     自动  （需要预处理 lane） ✔
     * 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
     * agv地图图标变化
     */
    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
        Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
    public String getDestinationCode(String agvNo, AgvDetail agvDetail) {

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

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

        notInCodeList.add("00000311");
        notInCodeList.add("00000312");
        notInCodeList.add("00000313");
        notInCodeList.add("00000361");
        notInCodeList.add("00000363");
        notInCodeList.add("00000411");
        notInCodeList.add("00000412");
        for (String endCodeData : codeList) {
            if (disableCodeList.contains(endCodeData)) { continue; }
            Code endCode = codeService.getCacheByData(endCodeData);

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

        Collections.shuffle(list);

        for (Code endCode : list) {
            // valid lane
            if (!allocateService.validCapacityOfLane(agv, endCode)) {
            if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
                continue;
            }

            // valid path length
            List<String> pathList = mapService.validFeasibility(startCode, endCode);
            if (pathList.size() >= 5) {
                return endCode;
                return endCodeData;
            }
        }

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


    // ---------------------------------------------------------------------------

@@ -163,21 +243,22 @@
        Runnable patrolTask = () -> {
            try {
                executePatrolLogic(agvNo);
//                executeUShapeConveyor(agvNo);
            } catch (Exception e) {
                log.error("执行AGV " + agvNo + " 跑库任务时发生异常: " + e.getMessage());
                e.printStackTrace();
                log.error("执行AGV{}跑库任务时发生异常", agvNo, e);
            }
        };

        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。");
        log.info("已启动AGV{}的跑库任务。", agvNo);
        return R.ok();
    }


    public R shutdownPatrol(String agvNo) {
        Long agvId = agvService.getAgvId(agvNo);
        ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
        if (scheduledFuture == null) {
            return R.error("AGV " + agvNo + " 没有正在运行的跑库任务。");
@@ -186,7 +267,10 @@
        boolean cancelled = scheduledFuture.cancel(true);
        if (cancelled) {
            AGV_PATROL_MAP.remove(agvNo);
            log.info("已停止AGV " + agvNo + " 的跑库任务。");
            CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
            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。");
@@ -200,6 +284,14 @@
        if (count > 0) {
            this.scheduler = Executors.newScheduledThreadPool(count);
        }
        // init all code data
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
        this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

        // int all loc code data
        List<Code> locCodeList = codeService.getAllLocCode();
        this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());

    }

    @PreDestroy