#

vincentlu

2025-12-31 31d515a97818bccf5e01a46f55b98204988541be

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

@@ -92,35 +92,50 @@
    }

    public synchronized Agv execute(Task task) {
        // inbound roller station
        Sta rollerOriSta = getInboundRollerSta(task);
        if (rollerOriSta != null) {
            List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
            FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
            if (null != filterLaneDto) {
                String agvNo = this.checkoutAgvForInboundRoller(task, rollerOriSta, filterLaneDto.getActualAvailableAgvNos());
                if (!Cools.isEmpty(agvNo)) {
                    task.setOriLaneHash(filterLaneDto.getOriginLane().getHashCode());
                    task.setDestLaneHash(filterLaneDto.getDestinationLane().getHashCode());
                    return agvService.selectByUuid(agvNo);
                }
            }
        Agv inboundAgv = tryAllocateForRoller(task, rollerOriSta, true);
        if (inboundAgv != null) {
            return inboundAgv;
        }

        // outbound roller station
        Sta rollerDestSta = getOutboundRollerSta(task);
        if (rollerDestSta != null) {
            List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
            FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
            if (null != filterLaneDto) {
                String agvNo = this.checkoutAgvForOutboundRoller(task, rollerDestSta, filterLaneDto.getActualAvailableAgvNos());
                if (!Cools.isEmpty(agvNo)) {
                    task.setOriLaneHash(filterLaneDto.getOriginLane().getHashCode());
                    task.setDestLaneHash(filterLaneDto.getDestinationLane().getHashCode());
                    return agvService.selectByUuid(agvNo);
                }
            }
        Agv outboundAgv = tryAllocateForRoller(task, rollerDestSta, false);
        if (outboundAgv != null) {
            return outboundAgv;
        }

        return this.normalExecute(task);
    }

    private Agv tryAllocateForRoller(Task task, Sta rollerSta, boolean inbound) {
        if (rollerSta == null) {
            return null;
        }

        List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
        FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
        if (filterLaneDto == null) {
            return null;
        }

        String agvNo = inbound
                ? this.checkoutAgvForInboundRoller(task, rollerSta, filterLaneDto.getActualAvailableAgvNos())
                : this.checkoutAgvForOutboundRoller(task, rollerSta, filterLaneDto.getActualAvailableAgvNos());
        if (Cools.isEmpty(agvNo)) {
            return null;
        }

        // record lane hash for later dispatch/traffic-control logic
        if (filterLaneDto.getOriginLane() != null) {
            task.setOriLaneHash(filterLaneDto.getOriginLane().getHashCode());
        }
        if (filterLaneDto.getDestinationLane() != null) {
            task.setDestLaneHash(filterLaneDto.getDestinationLane().getHashCode());
        }

        return agvService.selectByUuid(agvNo);
    }

    /**
@@ -148,14 +163,12 @@
        Lane originLane = filterLaneDto.getOriginLane();
        Lane destinationLane = filterLaneDto.getDestinationLane();
        List<String> actualAvailableAgvNos = filterLaneDto.getActualAvailableAgvNos();
        if (Cools.isEmpty(actualAvailableAgvNos)) {
            return null;
        }

        // choose min number of running task
        actualAvailableAgvNos.sort(new Comparator<String>() {
            @Override
            public int compare(String agvNo1, String agvNo2) {
                return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
            }
        });
        actualAvailableAgvNos.sort(Comparator.comparingInt(agvNo -> calcAllocateWeight(agvNo, task)));

        if (null != originLane) {
            task.setOriLaneHash(originLane.getHashCode());
@@ -164,7 +177,7 @@
            task.setDestLaneHash(destinationLane.getHashCode());
        }

        return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
        return agvService.selectByUuid(actualAvailableAgvNos.get(0));
    }

    private String checkoutAgvForInboundRoller(Task task, Sta sta, List<String> availableAgvNos) {