zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -4,10 +4,7 @@ import com.zy.acs.common.enums.AgvStatusType; import com.zy.acs.manager.core.service.MainService; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.FuncStaStateType; import com.zy.acs.manager.manager.enums.FuncStaType; import com.zy.acs.manager.manager.enums.TaskStsType; import com.zy.acs.manager.manager.enums.TaskTypeType; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; @@ -41,16 +38,22 @@ private ConfigService configService; @Autowired private AgvModelService agvModelService; @Autowired private SegmentService segmentService; @Scheduled(cron = "0/5 * * * * ? ") private synchronized void autoCharge(){ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1)); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); for (Agv agv : agvList) { AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); AgvModel agvModel = agvModelService.getById(agv.getAgvModel()); if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) { continue; } if (agvDetail.getVol() <= agv.getChargeLine() && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { continue; } if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) { if (taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getAgvId, agv.getId()) .and(i -> { @@ -58,7 +61,16 @@ i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val()) .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val()); })) > 0) { return; continue; } if (segmentService.count(new LambdaQueryWrapper<Segment>() .eq(Segment::getAgvId, agv.getId()) .and( i -> { // i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or() i.eq(Segment::getState, SegmentStateType.RUNNING.toString()); }) ) > 0) { continue; } mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null); } @@ -71,7 +83,7 @@ private void autoStandby(){ // 1.agv充电到一定电压后，回到待机位 // 2.agv没有任务时，回到待机位 List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1)); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); label: for (Agv agv : agvList) { AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) { zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -5,6 +5,7 @@ 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; import com.zy.acs.manager.manager.enums.TaskStsType; import com.zy.acs.manager.manager.enums.TaskTypeType; import com.zy.acs.manager.manager.service.*; @@ -47,7 +48,7 @@ */ private List<Agv> getAvailableAgv() { List<Agv> result = new ArrayList<>(); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1)); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); Collections.shuffle(agvList); for (Agv agv : agvList) { @@ -241,7 +242,7 @@ Agv hit = null; List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1)); 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()); zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -499,16 +499,22 @@ switch (taskType) { case TO_CHARGE: case TO_STANDBY: List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>() .eq(FuncSta::getType, FuncStaType.query(taskType).toString()) .eq(FuncSta::getAgvId, agv.getId()) .eq(FuncSta::getState, FuncStaStateType.IDLE.toString()) .eq(FuncSta::getStatus, StatusType.ENABLE.val) ); if (!Cools.isEmpty(funcStaList)) { FuncSta funcSta = funcStaList.get(0); List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId()); if (!Cools.isEmpty(idleFunStaList)) { FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList); endCode = codeService.getById(funcSta.getCode()); } // List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>() // .eq(FuncSta::getType, FuncStaType.query(taskType).toString()) // .eq(FuncSta::getAgvId, agv.getId()) // .eq(FuncSta::getState, FuncStaStateType.IDLE.toString()) // .eq(FuncSta::getStatus, StatusType.ENABLE.val) // ); // if (!Cools.isEmpty(funcStaList)) { // FuncSta funcSta = funcStaList.get(0); // endCode = codeService.getById(funcSta.getCode()); // } break; case MOVE: endCode = codeService.selectByData(destination); zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java
@@ -7,16 +7,13 @@ import com.zy.acs.common.domain.protocol.IMessageBody; import com.zy.acs.common.enums.AgvInOutFlagType; 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.manager.controller.result.DigitalAgvVo; import com.zy.acs.manager.manager.controller.result.DigitalStockVo; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.ActionStsType; import com.zy.acs.manager.manager.enums.ActionTypeType; import com.zy.acs.manager.manager.enums.LocStsType; import com.zy.acs.manager.manager.enums.TaskStsType; import com.zy.acs.manager.manager.enums.*; import com.zy.acs.manager.manager.service.*; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.common.R; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.web.bind.annotation.GetMapping; import org.springframework.web.bind.annotation.RequestMapping; @@ -51,7 +48,7 @@ public R getAgvInfo() { List<DigitalAgvVo> voList = new ArrayList<>(); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1)); List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); for (Agv agv : agvList) { DigitalAgvVo vo = new DigitalAgvVo(); vo.setAgvNo(agv.getUuid()); zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
@@ -35,4 +35,6 @@ Integer getBackpack(Agv agv); Agv findByPosition(Long codeId); } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
@@ -2,6 +2,9 @@ import com.baomidou.mybatisplus.extension.service.IService; import com.zy.acs.manager.manager.entity.FuncSta; import com.zy.acs.manager.manager.enums.FuncStaType; import java.util.List; public interface FuncStaService extends IService<FuncSta> { @@ -9,4 +12,8 @@ FuncSta query(Long agvId, Long codeId, String type); List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId); FuncSta checkoutClosestFunSta(Long codeId, List<FuncSta> funcStaList); } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
@@ -34,4 +34,6 @@ List<Task> findRunningTasksByAgv(Long agvId); Task findLatestTask(Long agvId); } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -13,6 +13,7 @@ import com.zy.acs.manager.manager.controller.result.AgvResult; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.SegmentStateType; import com.zy.acs.manager.manager.enums.StatusType; import com.zy.acs.manager.manager.mapper.AgvMapper; import com.zy.acs.manager.manager.service.*; import com.zy.acs.manager.system.service.ConfigService; @@ -160,4 +161,19 @@ return agvModel.getBackpack(); } @Override public Agv findByPosition(Long codeId) { List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val)); for (Agv agv : agvList) { AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId()); if (null == agvDetail) { continue; } if (agvDetail.getRecentCode().equals(codeId)) { return agv; } } return null; } } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -2,16 +2,37 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.zy.acs.manager.manager.entity.FuncSta; import com.zy.acs.manager.manager.mapper.FuncStaMapper; import com.zy.acs.manager.manager.service.FuncStaService; import com.zy.acs.common.enums.AgvStatusType; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.manager.entity.*; import com.zy.acs.manager.manager.enums.FuncStaType; 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.mapper.FuncStaMapper; import com.zy.acs.manager.manager.service.*; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.ArrayList; import java.util.Collections; import java.util.Comparator; import java.util.List; import java.util.stream.Collectors; @Service("funcStaService") public class FuncStaServiceImpl extends ServiceImpl<FuncStaMapper, FuncSta> implements FuncStaService { @Autowired private CodeService codeService; @Autowired private AgvService agvService; @Autowired private AgvDetailService agvDetailService; @Autowired private AgvModelService agvModelService; @Autowired private TaskService taskService; @Override public FuncSta getByCodeAndType(Long codeId, String type) { @@ -32,4 +53,122 @@ return list.stream().findFirst().orElse(null); } @Override public List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId) { LambdaQueryWrapper<FuncSta> wrapper = new LambdaQueryWrapper<FuncSta>() .eq(FuncSta::getType, type).eq(FuncSta::getStatus, StatusType.ENABLE.val); if (null != agvId) { wrapper.eq(FuncSta::getAgvId, agvId); } List<FuncSta> funcStaList = this.list(wrapper); funcStaList = funcStaList.stream().filter(funcSta -> { if (null != funcSta.getAgvId()) { if (!funcSta.getAgvId().equals(agvId)) { return false; } } return true; }).collect(Collectors.toList()); if (Cools.isEmpty(funcStaList)) { return new ArrayList<>(); } Collections.shuffle(funcStaList); // filter idle funcStaList = funcStaList.stream().filter(funcSta -> { Long code = funcSta.getCode(); if (null == code) { return false; } Agv existAgv = agvService.findByPosition(code); if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) { // if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied if (null != existAgv) { AgvDetail agvDetail = agvDetailService.selectByAgvId(existAgv.getId()); AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel()); if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) { if (agvDetail.getVol() < agvModel.getQuaBattery()) { return false; } } } // if there is a running task whose destination is this funSta, then that means this funSta is occupied if (0 < taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val()) .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()) .eq(Task::getDestCode, code) )) { return false; } } if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) { if (null == existAgv) { // if there is a running task whose destination is this funSta, then that means this funSta is occupied if (0 < taskService.count(new LambdaQueryWrapper<Task>() .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val()) .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()) .eq(Task::getDestCode, code) )) { return false; } } else { // if there is an agv on the code of this funSta, should we let this agv leave? // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type // Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId()); } } return true; }).collect(Collectors.toList()); return funcStaList; } @Override public FuncSta checkoutClosestFunSta(Long codeId, List<FuncSta> funcStaList) { if (Cools.isEmpty(funcStaList)) { return null; } if (null != codeId) { Code currCode = codeService.getById(codeId); Double[] startPos = new Double[]{currCode.getX(), currCode.getY()}; // checkout one funSta which is the closest // compare => compare返回负数，则排在集合前面 （asc） funcStaList.sort(new Comparator<FuncSta>() { @Override public int compare(FuncSta o1, FuncSta o2) { Code o1Code = codeService.getById(o1.getCode()); int o1Distance = calcPositionDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()}); Code o2Code = codeService.getById(o2.getCode()); int o2Distance = calcPositionDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()}); return o1Distance - o2Distance; } }); } return funcStaList.stream().findFirst().orElse(null); } private int calcPositionDistance(Double[] from, Double[] to) { return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1])); } } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
@@ -186,6 +186,17 @@ return this.list(wrapper); } @Override public Task findLatestTask(Long agvId) { LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<Task>() .orderByDesc(Task::getCreateTime) .last("limit 0, 1"); if (null != agvId) { wrapper.eq(Task::getAgvId, agvId); } return this.list(wrapper).stream().findFirst().orElse(null); } @Transactional public void maintainLocSts(Task task, Boolean complete) { Loc oriLoc = null; Loc destLoc = null;
