zy-acs-framework/src/main/java/com/zy/acs/framework/common/Cools.java
@@ -299,6 +299,8 @@ } private final static char[] hexDigits = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'}; public static String md5(String string){ try{ MessageDigest md5 = MessageDigest.getInstance("MD5"); @@ -315,8 +317,6 @@ throw new RuntimeException("md5加密失败,str=".concat(string)); } } private static char[] hexDigits = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'}; public static Map<String, Object> translate(Object obj){ Class<?> cls = obj.getClass(); zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -3,7 +3,6 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.common.utils.CommonUtil; import com.zy.acs.manager.common.utils.LocUtils; import com.zy.acs.manager.core.domain.Lane; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.StatusType; @@ -103,7 +102,8 @@ List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos); if (null != originLane) { List<String> agvNosByOriLane = findAgvNosByLane(originLane); // the agv list that had tasks in this lane if (!Cools.isEmpty(agvNosByOriLane) && agvNosByOriLane.size() >= maxAgvCountInLane) { // if full lane if (agvNosByOriLane.size() >= maxAgvCountInLane) { availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos); } @@ -116,7 +116,7 @@ List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos); if (null != destinationLane) { List<String> agvNosByDestLane = findAgvNosByLane(destinationLane); if (!Cools.isEmpty(agvNosByDestLane) && agvNosByDestLane.size() >= maxAgvCountInLane) { if (agvNosByDestLane.size() >= maxAgvCountInLane) { availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos); } @@ -132,7 +132,6 @@ log.warn("No available agv to assign the task destination[{}]", task.getSeqNum()); return null; } List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane); if (Cools.isEmpty(actualAvailableAgvNos)) { log.warn("No available agv to assign the task[{}]", task.getSeqNum()); @@ -158,17 +157,18 @@ return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null)); } private List<String> findAgvNosByLane(Lane lane) { public List<String> findAgvNosByLane(Lane lane) { if (null == lane) { return null; return new ArrayList<>(); } List<Task> taskList = taskService.findRunningTasksByLaneHash(lane.getHashCode()); if (Cools.isEmpty(taskList)) { return null; return new ArrayList<>(); } return taskList.stream().map(task -> { return agvService.getById(task.getAgvId()).getUuid(); }).distinct().collect(Collectors.toList()); return taskList.stream() .map(task -> agvService.getById(task.getAgvId()).getUuid()) .distinct() .collect(Collectors.toList()); } private List<String> validBackpackLimit(List<String> agvNoList) { @@ -178,8 +178,8 @@ return agvNoList.stream().filter(agvNo -> { Agv agv = agvService.selectByUuid(agvNo); AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId()); return runningTasks.size() < agvModel.getBackpack(); List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId()); return transportTasks.size() < agvModel.getBackpack(); }).collect(Collectors.toList()); } @@ -189,9 +189,9 @@ Agv agv = agvService.selectByUuid(agvNo); // backpack List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId()); if (!Cools.isEmpty(runningTasks)) { weight = weight + runningTasks.size() * 100000; List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId()); if (!Cools.isEmpty(transportTasks)) { weight = weight + transportTasks.size() * 100000; } // distance @@ -231,89 +231,20 @@ return -weight; } public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) { String oriLocNo = task.getOriLoc$(); int oriLocRow = LocUtils.getRow(oriLocNo); String destLocNo = task.getDestLoc$(); int destLocRow = LocUtils.getRow(destLocNo); public Boolean validCapacityOfLane(Agv agv, Code code) { Lane lane = laneService.search(code.getData()); if (null != lane) { Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class); Agv hit = null; List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); Collections.shuffle(agvList); for (Agv agv : agvList) { AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); int allotTaskCount = 0; List<Long> allotTaskIds = taskAllot.get(agv.getUuid()); if (!Cools.isEmpty(allotTaskIds)) { allotTaskCount = allotTaskIds.size(); List<String> agvNosByLane = this.findAgvNosByLane(lane); agvNosByLane.remove(agv.getUuid()); if (agvNosByLane.size() >= maxAgvCountInLane) { return false; } if (allotTaskCount >= agvModel.getBackpack()) { continue; } if (taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getAgvId, agv.getId()) .notIn(Task::getId, taskIds) .and(i -> { i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 已经有waiting任务的车不能再分配 .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val()) .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val()); })) > 0) { log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务..."); continue; } if (!agvService.judgeEnable(agv.getId(), true)) { log.info(agv.getUuid() + "号AGV不可用，" + task.getSeqNum() + "任务无法计算..."); continue; } hit = agv; break; } return hit; return true; } public synchronized Agv execute1(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) { String oriLocNo = task.getOriLoc$(); int oriLocRow = LocUtils.getRow(oriLocNo); String destLocNo = task.getDestLoc$(); int destLocRow = LocUtils.getRow(destLocNo); Agv agv = null; if (oriLocRow <= 2 && destLocRow <= 2) { agv = agvService.selectByUuid(String.valueOf(1)); } if (oriLocRow > 2 && destLocRow > 2) { agv = agvService.selectByUuid(String.valueOf(2)); } assert agv != null; AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); int allotTaskCount = 0; List<Long> allotTaskIds = taskAllot.get(agv.getUuid()); if (!Cools.isEmpty(allotTaskIds)) { allotTaskCount = allotTaskIds.size(); } if (allotTaskCount >= agvModel.getBackpack()) { return null; } if (taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getAgvId, agv.getId()) .notIn(Task::getId, taskIds) .and(i -> { i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 已经有waiting任务的车不能再分配 .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val()) .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val()); })) > 0) { log.info(agv.getUuid() + "号AGV不可用，已经存在进行中的任务..."); return null; } if (!agvService.judgeEnable(agv.getId(), true)) { log.info(agv.getUuid() + "号AGV不可用，" + task.getSeqNum() + "任务无法计算..."); return null; } return agv; } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -15,7 +15,6 @@ import com.zy.acs.common.enums.AgvCompleteType; import com.zy.acs.common.enums.AgvDirectionType; import com.zy.acs.common.enums.AgvSpeedType; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.common.utils.Utils; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.common.SnowflakeIdWorker; @@ -25,6 +24,7 @@ import com.zy.acs.manager.common.exception.BusinessException; import com.zy.acs.manager.common.utils.CommonUtil; import com.zy.acs.manager.core.domain.AgvBackpackDto; import com.zy.acs.manager.core.domain.Lane; import com.zy.acs.manager.core.domain.TaskPosDto; import com.zy.acs.manager.core.service.astart.MapDataDispatcher; import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam; @@ -41,7 +41,6 @@ import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.concurrent.locks.ReentrantLock; import java.util.stream.Collectors; /** @@ -50,10 +49,6 @@ @Slf4j @Component("mainService") public class MainService { private final RedisSupport redis = RedisSupport.defaultRedisSupport; private static final int LOCK_TIMEOUT = 5; private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE); @Autowired private BusService busService; @@ -97,6 +92,8 @@ private TrafficService trafficService; @Autowired private AgvModelService agvModelService; @Autowired private LaneService laneService; @SuppressWarnings("all") @@ -235,35 +232,6 @@ throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update"); } } // ------------------------------------------ // // Map<String, List<Long>> taskAllot = new HashMap<>(); // for (Task task : taskList) { // Agv agv = missionAssignService.execute(task, taskAllot, taskIds); // if (null == agv) { // log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum()); // continue; // } // // // task.setAgvId(agv.getId()); // task.setTaskSts(TaskStsType.WAITING.val()); // task.setIoTime(now); // task.setUpdateTime(now); // if (!taskService.updateById(task)) { // throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update"); // } // // if (taskAllot.containsKey(agv.getUuid())) { // taskAllot.get(agv.getUuid()).add(task.getId()); // } else { // taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId())); // } // } } catch (Exception e) { log.error("mainService.infuseAgvForTask", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); @@ -560,6 +528,9 @@ if (null == endCode) { return false; } if (!allocateService.validCapacityOfLane(agv, endCode)) { throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!"); } Task task = new Task(); task.setAgvId(agv.getId()); @@ -568,6 +539,11 @@ task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum())); task.setOriCode(agvDetail.getCode()); task.setDestCode(endCode.getId()); // lane Lane destLane = laneService.search(endCode.getData()); if (null != destLane) { task.setDestLaneHash(destLane.getHashCode()); } task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1); task.setTaskSts(TaskStsType.ASSIGN.val()); task.setTaskType(taskType.val()); zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -14,6 +14,7 @@ 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.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -47,14 +48,18 @@ private AgvDetailService agvDetailService; @Autowired private TaskService taskService; // @Autowired // private MainService mainService; @Autowired private MainLockWrapService mainLockWrapService; @Autowired private CodeService codeService; @Autowired private MapService mapService; @Autowired private LaneService laneService; @Autowired private AllocateService allocateService; @Autowired private ConfigService configService; private void executePatrolLogic(String agvNo) { this.patrolOfMove(agvNo); @@ -75,30 +80,55 @@ if (!agvService.judgeEnable(agv.getId())) { return; } Code randomCode = this.getRandomCode(agvDetail); if (null == randomCode) { Code destinationCode = this.getDestinationCode(agv, agvDetail); if (null == destinationCode) { return; } if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, randomCode.getData())) { if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) { log.info(agv.getUuid() + "开始走行演示..."); } } public Code getRandomCode(AgvDetail agvDetail) { /** * buildMinorTask 没有设置lane，lane只需要关注起始点（走行只需要关注终点） * 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） ✔ * ) * 评估HandlerController没有调用buildMajorTask，手动创建task的可行性 * patrolOfMove没有判断lane的容量 * 抢占待机位 * agv地图图标变化 */ public Code getDestinationCode(Agv agv, AgvDetail agvDetail) { Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class); Code startCode = codeService.getById(agvDetail.getRecentCode()); List<String> notInCodeList = new ArrayList<>(); notInCodeList.add("00000151"); 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)) { continue; } // valid path length List<String> pathList = mapService.validFeasibility(startCode, endCode); if (pathList.size() >= 5) { return endCode; } } return list.stream().findFirst().orElse(null); } // --------------------------------------------------------------------------- zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
@@ -32,7 +32,7 @@ List<Task> findRunningTasksByLaneHash(String laneHash); List<Task> findRunningTasksByAgv(Long agvId); List<Task> findTransportTasksByAgv(Long agvId); Task findLatestTask(Long agvId, TaskStsType taskSts);
@@ -176,7 +176,7 @@ } @Override public List<Task> findRunningTasksByAgv(Long agvId) { public List<Task> findTransportTasksByAgv(Long agvId) { if (null == agvId) { return new ArrayList<>(); }
