#

vincentlu

2025-11-12 537860774134b21ed19425269a64ba972daadbf5

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java

@@ -30,8 +30,8 @@

    @PostConstruct
    public void init() {
       this.initEnableArea();
       this.initDisableArea();
//       this.initEnableArea();
//       this.initDisableArea();
    }

    public void initEnableArea() {

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

@@ -6,9 +6,6 @@
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;
@@ -62,53 +59,32 @@
//    @Scheduled(cron = "0/1 * * * * ? ")
    private void execute() {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }

        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;
            }
        }
        this.autoRun();
    }

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

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

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

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

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

    private void runStaToLoc(String memo) {
//        Integer startRow = Collections.min(locGroupList);
//        Integer endRow = Collections.max(locGroupList);
        Integer startRow = null;
        Integer endRow = null;

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
@@ -119,7 +95,8 @@
        LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.STOCK.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
//                .in(Sta::getStaNo, staGroupList)
                ;
        List<Sta> stockList = staService.list(stockWrapper);
        if (Cools.isEmpty(stockList)) { return; }
        Collections.shuffle(stockList);
@@ -151,9 +128,11 @@
    }

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

        AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
        if (null == agvModel) {
@@ -165,7 +144,8 @@
        LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
                .eq(Sta::getStaSts, StaStsType.IDLE.val())
                .eq(Sta::getStatus, StatusType.ENABLE.val)
                .in(Sta::getStaNo, staGroupList);
//                .in(Sta::getStaNo, staGroupList)
                ;
        List<Sta> idleList = staService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return;
@@ -201,13 +181,16 @@
    }

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

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

        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        int availableAgvCount = this.getAvailableAgvCount();

        // 最多 ? 组bus运行
        if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
@@ -270,16 +253,16 @@
        return result;
    }

    private int getAvailableAgvCount(List<String> agvNos) {
    private int getAvailableAgvCount() {
        int res = 0;
        if (Cools.isEmpty(agvNos)) {
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        if (Cools.isEmpty(agvList)) {
            return res;
        }
        for (String agvNo : agvNos) {
            if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
        for (Agv agv : agvList) {
            if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid())) {
                continue;
            }
            Agv agv = agvService.selectByUuid(agvNo);
            if (!agv.getStatusBool()) {
                continue;
            }

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

@@ -106,7 +106,8 @@
     *      it can break the limit of the number of agv backpack
     */
    public synchronized Agv execute(Task task) {
        List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task));
//        List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task));
        List<String> availableAgvNos = this.getAvailableAgvNos(null);
        if (Cools.isEmpty(availableAgvNos)) {
//            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java

@@ -61,16 +61,16 @@
        }

        // area limit
        List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
        if (Cools.isEmpty(areaCodeList)) {
            funcStaList.clear();
        } else {
            funcStaList.removeIf(funcSta -> {
                Code code = codeService.getCacheById(funcSta.getCode());
                if (Cools.isEmpty(code, code.getData())) { return true; }
                return !areaCodeList.contains(code.getData());
            });
        }
//        List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
//        if (Cools.isEmpty(areaCodeList)) {
//            funcStaList.clear();
//        } else {
//            funcStaList.removeIf(funcSta -> {
//                Code code = codeService.getCacheById(funcSta.getCode());
//                if (Cools.isEmpty(code, code.getData())) { return true; }
//                return !areaCodeList.contains(code.getData());
//            });
//        }

        if (!Cools.isEmpty(funcStaList)) {
            Collections.shuffle(funcStaList);