From 2fa19599467263dcf582bb12906e03328e03b4a4 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 02 七月 2025 13:12:26 +0800
Subject: [PATCH] 初版提交
---
algorithm_system/algorithms/task_allocation.py | 687 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 687 insertions(+), 0 deletions(-)
diff --git a/algorithm_system/algorithms/task_allocation.py b/algorithm_system/algorithms/task_allocation.py
new file mode 100644
index 0000000..883ed50
--- /dev/null
+++ b/algorithm_system/algorithms/task_allocation.py
@@ -0,0 +1,687 @@
+"""
+浠诲姟鍒嗛厤绠楁硶
+"""
+import time
+import random
+import logging
+from typing import Dict, List, Tuple, Optional, Set, Any
+from collections import defaultdict
+from abc import ABC, abstractmethod
+
+from common.data_models import TaskData, AGVStatus, TaskAssignment, BackpackData
+from algorithm_system.models.agv_model import AGVModel, AGVModelManager
+from common.utils import get_coordinate_from_path_id, calculate_distance, calculate_manhattan_distance
+from dataclasses import dataclass
+
+
+class TaskAllocation(ABC):
+ """浠诲姟鍒嗛厤绠楁硶鍩虹被"""
+
+ def __init__(self, agv_manager: AGVModelManager):
+ """
+ 鍒濆鍖栦换鍔″垎閰嶇畻娉�
+
+ Args:
+ agv_manager: AGV妯″瀷绠＄悊鍣�
+ """
+ self.agv_manager = agv_manager
+ self.logger = logging.getLogger(__name__)
+
+ @abstractmethod
+ def allocate_tasks(self, tasks: List[TaskData]) -> List[TaskAssignment]:
+ """
+ 鍒嗛厤浠诲姟缁橝GV
+
+ Args:
+ tasks: 寰呭垎閰嶇殑浠诲姟鍒楄〃
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉鍒楄〃
+ """
+ pass
+
+ def find_available_backpack_slot(self, agv_status: AGVStatus) -> Optional[int]:
+ """
+ 鏌ユ壘AGV鐨勫彲鐢ㄨ儗绡撲綅缃�
+
+ Args:
+ agv_status: AGV鐘舵�佷俊鎭�
+
+ Returns:
+ Optional[int]: 鍙敤鐨勮儗绡撲綅缃紪鍙凤紝濡傛灉娌℃湁鍙敤浣嶇疆鍒欒繑鍥濶one
+ """
+ if not agv_status.backpack:
+ # 濡傛灉娌℃湁鑳岀瘬淇℃伅锛屽亣璁句粠绗竴涓綅缃紑濮�
+ self.logger.warning(f"AGV {agv_status.agvId} 娌℃湁鑳岀瘬淇℃伅锛屽垎閰嶅埌浣嶇疆0")
+ return 0
+
+ # 鏌ユ壘绌洪棽涓旀湭鎵ц浠诲姟鐨勮儗绡撲綅缃�
+ for backpack_item in agv_status.backpack:
+ if not backpack_item.loaded and not backpack_item.execute and not backpack_item.taskId:
+ self.logger.debug(f"AGV {agv_status.agvId} 鎵惧埌鍙敤鑳岀瘬浣嶇疆: {backpack_item.index}")
+ return backpack_item.index
+
+ # 濡傛灉鎵�鏈変綅缃兘琚崰鐢紝杩斿洖None
+ self.logger.debug(f"AGV {agv_status.agvId} 娌℃湁鍙敤鐨勮儗绡撲綅缃�")
+ return None
+
+ def get_agv_available_capacity(self, agv_status: AGVStatus) -> int:
+ """
+ 鑾峰彇AGV鐨勫彲鐢ㄨ儗绡撳閲�
+
+ Args:
+ agv_status: AGV鐘舵�佷俊鎭�
+
+ Returns:
+ int: 鍙敤鑳岀瘬鏁伴噺
+ """
+ if not agv_status.backpack:
+ return 1 # 鍋囪鑷冲皯鏈変竴涓儗绡撲綅缃�
+
+ available_count = 0
+ for backpack_item in agv_status.backpack:
+ if not backpack_item.loaded and not backpack_item.execute and not backpack_item.taskId:
+ available_count += 1
+
+ return available_count
+
+ def assign_task_with_backpack(self, agv_model, task: TaskData, lev_id: int) -> bool:
+ """
+ 灏嗕换鍔″垎閰嶇粰AGV鐨勬寚瀹氳儗绡撲綅缃�
+
+ Args:
+ agv_model: AGV妯″瀷
+ task: 浠诲姟鏁版嵁
+ lev_id: 鑳岀瘬浣嶇疆缂栧彿
+
+ Returns:
+ bool: 鍒嗛厤鏄惁鎴愬姛
+ """
+ try:
+ # 浣跨敤AGV妯″瀷鐨刟ssign_task鏂规硶
+ success = agv_model.assign_task(
+ task_id=task.taskId,
+ priority=task.priority,
+ start_code=task.start,
+ end_code=task.end
+ )
+
+ if success:
+ self.logger.info(f"浠诲姟 {task.taskId} 鎴愬姛鍒嗛厤缁橝GV {agv_model.agvId} 鐨勮儗绡撲綅缃� {lev_id}")
+ return True
+ else:
+ self.logger.warning(f"浠诲姟 {task.taskId} 鍒嗛厤缁橝GV {agv_model.agvId} 澶辫触")
+ return False
+
+ except Exception as e:
+ self.logger.error(f"鍒嗛厤浠诲姟鏃跺彂鐢熷紓甯�: {e}")
+ return False
+
+
+class NearestFirstAllocation(TaskAllocation):
+ """鏈�杩戜紭鍏堝垎閰嶇畻娉�"""
+
+ def allocate_tasks(self, tasks: List[TaskData]) -> List[TaskAssignment]:
+ """
+ 浣跨敤鏈�杩戜紭鍏堢瓥鐣ュ垎閰嶄换鍔�
+
+ Args:
+ tasks: 寰呭垎閰嶇殑浠诲姟鍒楄〃
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉鍒楄〃
+ """
+ if not tasks:
+ return []
+
+ # 鑾峰彇鍙敤鐨凙GV
+ available_agvs = self.agv_manager.get_available_agvs()
+
+ if not available_agvs:
+ self.logger.warning("娌℃湁鍙敤鐨凙GV杩涜浠诲姟鍒嗛厤")
+ return []
+
+ # 1. 棣栧厛妫�鏌ヤ换鍔℃槸鍚﹀凡缁忓垎閰嶏紝閬垮厤閲嶅鍒嗛厤
+ already_assigned_tasks = set()
+ all_agvs = self.agv_manager.get_all_agvs()
+ for agv in all_agvs:
+ if agv.backpack:
+ for backpack_item in agv.backpack:
+ if backpack_item.taskId:
+ already_assigned_tasks.add(backpack_item.taskId)
+ self.logger.info(f"浠诲姟 {backpack_item.taskId} 宸插垎閰嶇粰 AGV {agv.agvId}锛岃烦杩囬噸澶嶅垎閰�")
+
+ # 2. 杩囨护鎺夊凡鍒嗛厤鐨勪换鍔�
+ unassigned_tasks = [task for task in tasks if task.taskId not in already_assigned_tasks]
+
+ if not unassigned_tasks:
+ self.logger.info("鎵�鏈変换鍔￠兘宸插垎閰嶏紝鏃犻渶閲嶆柊鍒嗛厤")
+ return []
+
+ self.logger.info(f"鎬讳换鍔℃暟: {len(tasks)}, 宸插垎閰�: {len(already_assigned_tasks)}, 寰呭垎閰�: {len(unassigned_tasks)}")
+
+ assignments = []
+ path_mapping = self.agv_manager.path_mapping
+
+ # 瀵规瘡涓换鍔℃壘鍒版渶杩戠殑AGV
+ for task in unassigned_tasks:
+ if not available_agvs:
+ break
+
+ # 鑾峰彇浠诲姟璧风偣鍧愭爣
+ task_start_coord = get_coordinate_from_path_id(task.start, path_mapping)
+ if not task_start_coord:
+ self.logger.warning(f"鏃犳硶鑾峰彇浠诲姟 {task.taskId} 璧风偣 {task.start} 鐨勫潗鏍�")
+ continue
+
+ # 鎵惧埌璺濈鏈�杩戠殑AGV
+ nearest_agv = None
+ min_distance = float('inf')
+
+ for agv in available_agvs:
+ if agv.coordinates:
+ distance = calculate_manhattan_distance(agv.coordinates, task_start_coord)
+
+ # 濡傛灉AGV宸叉湁浠诲姟锛岃绠楀畬鎴愬綋鍓嶄换鍔″悗鍒版柊浠诲姟璧风偣鐨勮窛绂�
+ if agv.current_task_count > 0:
+ # 绠�鍖栵細鍋囪AGV闇�瑕侀澶栨椂闂村畬鎴愬綋鍓嶄换鍔�
+ distance += agv.current_task_count * 10
+
+ if distance < min_distance:
+ min_distance = distance
+ nearest_agv = agv
+
+ if nearest_agv and nearest_agv.can_accept_task(task.priority):
+ # 鑾峰彇AGV鐨勫師濮嬬姸鎬佹暟鎹潵鏌ユ壘鍙敤鑳岀瘬浣嶇疆
+ agv_status = None
+ for agv_state in self.agv_manager.get_all_agv_status():
+ if agv_state.agvId == nearest_agv.agvId:
+ agv_status = agv_state
+ break
+
+ if agv_status:
+ # 鏌ユ壘鍙敤鐨勮儗绡撲綅缃�
+ available_lev_id = self.find_available_backpack_slot(agv_status)
+
+ if available_lev_id is not None:
+ # 鍒嗛厤浠诲姟鍒版寚瀹氳儗绡撲綅缃�
+ success = self.assign_task_with_backpack(nearest_agv, task, available_lev_id)
+ if success:
+ assignments.append(TaskAssignment(
+ taskId=task.taskId,
+ agvId=nearest_agv.agvId,
+ lev_id=available_lev_id
+ ))
+
+ self.logger.info(f"浠诲姟 {task.taskId} 鍒嗛厤缁欐渶杩戠殑AGV {nearest_agv.agvId}锛岃儗绡撲綅缃�: {available_lev_id}锛岃窛绂�: {min_distance}")
+
+ # 妫�鏌GV鏄惁杩樻湁鍙敤鑳岀瘬浣嶇疆
+ remaining_capacity = self.get_agv_available_capacity(agv_status) - 1
+ if remaining_capacity <= 0:
+ available_agvs.remove(nearest_agv)
+ else:
+ self.logger.warning(f"浠诲姟 {task.taskId} 鍒嗛厤缁橝GV {nearest_agv.agvId} 澶辫触")
+ else:
+ self.logger.warning(f"AGV {nearest_agv.agvId} 娌℃湁鍙敤鐨勮儗绡撲綅缃�")
+ available_agvs.remove(nearest_agv)
+ else:
+ self.logger.warning(f"鏃犳硶鑾峰彇AGV {nearest_agv.agvId} 鐨勭姸鎬佷俊鎭�")
+
+ return assignments
+
+
+class LoadBalancedAllocation(TaskAllocation):
+ """璐熻浇鍧囪 鍒嗛厤绠楁硶"""
+
+ def allocate_tasks(self, tasks: List[TaskData]) -> List[TaskAssignment]:
+ """
+ 浣跨敤璐熻浇鍧囪 绛栫暐鍒嗛厤浠诲姟
+
+ Args:
+ tasks: 寰呭垎閰嶇殑浠诲姟鍒楄〃
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉鍒楄〃
+ """
+ if not tasks:
+ return []
+
+ # 鑾峰彇鎵�鏈堿GV
+ all_agvs = self.agv_manager.get_all_agvs()
+
+ if not all_agvs:
+ self.logger.warning("娌℃湁AGV杩涜浠诲姟鍒嗛厤")
+ return []
+
+ # 1. 棣栧厛妫�鏌ヤ换鍔℃槸鍚﹀凡缁忓垎閰嶏紝閬垮厤閲嶅鍒嗛厤
+ already_assigned_tasks = set()
+ for agv in all_agvs:
+ if agv.backpack:
+ for backpack_item in agv.backpack:
+ if backpack_item.taskId:
+ already_assigned_tasks.add(backpack_item.taskId)
+ self.logger.info(f"浠诲姟 {backpack_item.taskId} 宸插垎閰嶇粰 AGV {agv.agvId}锛岃烦杩囬噸澶嶅垎閰�")
+
+ # 2. 杩囨护鎺夊凡鍒嗛厤鐨勪换鍔�
+ unassigned_tasks = [task for task in tasks if task.taskId not in already_assigned_tasks]
+
+ if not unassigned_tasks:
+ self.logger.info("鎵�鏈変换鍔￠兘宸插垎閰嶏紝鏃犻渶閲嶆柊鍒嗛厤")
+ return []
+
+ self.logger.info(f"鎬讳换鍔℃暟: {len(tasks)}, 宸插垎閰�: {len(already_assigned_tasks)}, 寰呭垎閰�: {len(unassigned_tasks)}")
+
+ assignments = []
+ path_mapping = self.agv_manager.path_mapping
+
+ # 鎸変紭鍏堢骇鎺掑簭浠诲姟
+ sorted_tasks = sorted(unassigned_tasks, key=lambda t: t.priority, reverse=True)
+
+ # 瀵规瘡涓换鍔″垎閰嶇粰璐熻浇鏈�浣庣殑AGV
+ for task in sorted_tasks:
+ # 鑾峰彇浠诲姟璧风偣鍧愭爣
+ task_start_coord = get_coordinate_from_path_id(task.start, path_mapping)
+ if not task_start_coord:
+ self.logger.warning(f"鏃犳硶鑾峰彇浠诲姟 {task.taskId} 璧风偣 {task.start} 鐨勫潗鏍�")
+ continue
+
+ # 鎸夎礋杞藉拰璺濈鎺掑簭AGV
+ agv_scores = []
+ for agv in all_agvs:
+ if not agv.can_accept_task(task.priority):
+ continue
+
+ # 璁＄畻璐熻浇寰楀垎锛堣礋杞借秺浣庡緱鍒嗚秺楂橈級
+ load_score = 1.0 - agv.get_workload_ratio()
+
+ # 璁＄畻璺濈寰楀垎锛堣窛绂昏秺杩戝緱鍒嗚秺楂橈級
+ distance_score = 0.0
+ if agv.coordinates and task_start_coord:
+ distance = calculate_manhattan_distance(agv.coordinates, task_start_coord)
+ distance_score = 1.0 / (1.0 + distance / 100.0) # 褰掍竴鍖栬窛绂诲緱鍒�
+
+ # 璁＄畻鏁堢巼寰楀垎
+ efficiency_score = agv.calculate_efficiency_score(path_mapping)
+
+ # 缁煎悎寰楀垎
+ total_score = 0.4 * load_score + 0.3 * distance_score + 0.3 * efficiency_score
+ agv_scores.append((agv, total_score))
+
+ if not agv_scores:
+ # 璇︾粏鍒嗘瀽涓轰粈涔堟病鏈堿GV鍙互鎺ュ彈浠诲姟
+ total_agvs = len(all_agvs)
+ busy_count = 0
+ low_battery_count = 0
+ overloaded_count = 0
+ status_invalid_count = 0
+
+ for agv in all_agvs:
+ if agv.is_overloaded():
+ overloaded_count += 1
+ elif str(agv.status) not in ["0", "1", "2"]:
+ status_invalid_count += 1
+ elif agv.need_charging():
+ low_battery_count += 1
+ else:
+ busy_count += 1
+
+ self.logger.warning(f"娌℃湁AGV鍙互鎺ュ彈浠诲姟 {task.taskId} - 璇︾粏鍒嗘瀽:")
+ self.logger.warning(f" 鎬籄GV鏁�: {total_agvs}")
+ self.logger.warning(f" 浠诲姟婊¤浇: {overloaded_count}")
+ self.logger.warning(f" 鐘舵�佸紓甯�: {status_invalid_count}")
+ self.logger.warning(f" 鐢甸噺杩囦綆: {low_battery_count}")
+ self.logger.warning(f" 鍏朵粬鍘熷洜: {busy_count}")
+ self.logger.warning(f" 浠诲姟浼樺厛绾�: {task.priority}")
+ continue
+
+ # 閫夋嫨寰楀垎鏈�楂樼殑AGV
+ agv_scores.sort(key=lambda x: x[1], reverse=True)
+ best_agv = agv_scores[0][0]
+
+ # 鑾峰彇AGV鐨勫師濮嬬姸鎬佹暟鎹潵鏌ユ壘鍙敤鑳岀瘬浣嶇疆
+ agv_status = self.agv_manager.get_agv_status(best_agv.agvId)
+
+ if agv_status:
+ # 鏌ユ壘鍙敤鐨勮儗绡撲綅缃�
+ available_lev_id = self.find_available_backpack_slot(agv_status)
+
+ if available_lev_id is not None:
+ # 鍒嗛厤浠诲姟鍒版寚瀹氳儗绡撲綅缃�
+ success = self.assign_task_with_backpack(best_agv, task, available_lev_id)
+ if success:
+ assignments.append(TaskAssignment(
+ taskId=task.taskId,
+ agvId=best_agv.agvId,
+ lev_id=available_lev_id
+ ))
+
+ self.logger.info(f"浠诲姟 {task.taskId} 鍒嗛厤缁欒礋杞藉潎琛＄殑AGV {best_agv.agvId}锛岃儗绡撲綅缃�: {available_lev_id}锛屽緱鍒�: {agv_scores[0][1]:.3f}")
+ else:
+ self.logger.warning(f"浠诲姟 {task.taskId} 鍒嗛厤缁橝GV {best_agv.agvId} 澶辫触")
+ else:
+ self.logger.warning(f"AGV {best_agv.agvId} 娌℃湁鍙敤鐨勮儗绡撲綅缃�")
+ else:
+ self.logger.warning(f"鏃犳硶鑾峰彇AGV {best_agv.agvId} 鐨勭姸鎬佷俊鎭�")
+
+ return assignments
+
+
+class PriorityFirstAllocation(TaskAllocation):
+ """浼樺厛绾т紭鍏堝垎閰嶇畻娉�"""
+
+ def allocate_tasks(self, tasks: List[TaskData]) -> List[TaskAssignment]:
+ """
+ 浣跨敤浼樺厛绾т紭鍏堢瓥鐣ュ垎閰嶄换鍔�
+
+ Args:
+ tasks: 寰呭垎閰嶇殑浠诲姟鍒楄〃
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉鍒楄〃
+ """
+ if not tasks:
+ return []
+
+ # 鑾峰彇鍙敤鐨凙GV
+ available_agvs = self.agv_manager.get_available_agvs()
+
+ if not available_agvs:
+ self.logger.warning("娌℃湁鍙敤鐨凙GV杩涜浠诲姟鍒嗛厤")
+ return []
+
+ # 1. 棣栧厛妫�鏌ヤ换鍔℃槸鍚﹀凡缁忓垎閰嶏紝閬垮厤閲嶅鍒嗛厤
+ already_assigned_tasks = set()
+ all_agvs = self.agv_manager.get_all_agvs()
+ for agv in all_agvs:
+ if agv.backpack:
+ for backpack_item in agv.backpack:
+ if backpack_item.taskId:
+ already_assigned_tasks.add(backpack_item.taskId)
+ self.logger.info(f"浠诲姟 {backpack_item.taskId} 宸插垎閰嶇粰 AGV {agv.agvId}锛岃烦杩囬噸澶嶅垎閰�")
+
+ # 2. 杩囨护鎺夊凡鍒嗛厤鐨勪换鍔�
+ unassigned_tasks = [task for task in tasks if task.taskId not in already_assigned_tasks]
+
+ if not unassigned_tasks:
+ self.logger.info("鎵�鏈変换鍔￠兘宸插垎閰嶏紝鏃犻渶閲嶆柊鍒嗛厤")
+ return []
+
+ self.logger.info(f"鎬讳换鍔℃暟: {len(tasks)}, 宸插垎閰�: {len(already_assigned_tasks)}, 寰呭垎閰�: {len(unassigned_tasks)}")
+
+ # 鎸変紭鍏堢骇鎺掑簭浠诲姟锛堥珮浼樺厛绾у湪鍓嶏級
+ sorted_tasks = sorted(unassigned_tasks, key=lambda t: t.priority, reverse=True)
+
+ assignments = []
+ path_mapping = self.agv_manager.path_mapping
+
+ # 浼樺厛鍒嗛厤楂樹紭鍏堢骇浠诲姟
+ for task in sorted_tasks:
+ if not available_agvs:
+ break
+
+ # 鑾峰彇浠诲姟璧风偣鍧愭爣
+ task_start_coord = get_coordinate_from_path_id(task.start, path_mapping)
+ if not task_start_coord:
+ self.logger.warning(f"鏃犳硶鑾峰彇浠诲姟 {task.taskId} 璧风偣 {task.start} 鐨勫潗鏍�")
+ continue
+
+ # 涓洪珮浼樺厛绾т换鍔￠�夋嫨鏈�浣矨GV
+ best_agv = None
+ best_score = -1
+
+ for agv in available_agvs:
+ if not agv.can_accept_task(task.priority):
+ continue
+
+ # 璁＄畻缁煎悎寰楀垎
+ distance_score = 0.0
+ if agv.coordinates and task_start_coord:
+ distance = calculate_manhattan_distance(agv.coordinates, task_start_coord)
+ distance_score = 1.0 / (1.0 + distance / 50.0)
+
+ efficiency_score = agv.calculate_efficiency_score(path_mapping)
+ capacity_score = agv.get_task_capacity() / agv.max_capacity
+
+ # 楂樹紭鍏堢骇浠诲姟鏇存敞閲嶆晥鐜囧拰璺濈
+ total_score = 0.5 * distance_score + 0.3 * efficiency_score + 0.2 * capacity_score
+
+ if total_score > best_score:
+ best_score = total_score
+ best_agv = agv
+
+ if best_agv:
+ # 鑾峰彇AGV鐨勫師濮嬬姸鎬佹暟鎹潵鏌ユ壘鍙敤鑳岀瘬浣嶇疆
+ agv_status = self.agv_manager.get_agv_status(best_agv.agvId)
+
+ if agv_status:
+ # 鏌ユ壘鍙敤鐨勮儗绡撲綅缃�
+ available_lev_id = self.find_available_backpack_slot(agv_status)
+
+ if available_lev_id is not None:
+ # 鍒嗛厤浠诲姟鍒版寚瀹氳儗绡撲綅缃�
+ success = self.assign_task_with_backpack(best_agv, task, available_lev_id)
+ if success:
+ assignments.append(TaskAssignment(
+ taskId=task.taskId,
+ agvId=best_agv.agvId,
+ lev_id=available_lev_id
+ ))
+
+ self.logger.info(f"楂樹紭鍏堢骇浠诲姟 {task.taskId} (浼樺厛绾�: {task.priority}) 鍒嗛厤缁橝GV {best_agv.agvId}锛岃儗绡撲綅缃�: {available_lev_id}")
+
+ # 妫�鏌GV鏄惁杩樻湁鍙敤鑳岀瘬浣嶇疆
+ remaining_capacity = self.get_agv_available_capacity(agv_status) - 1
+ if remaining_capacity <= 0:
+ available_agvs.remove(best_agv)
+ else:
+ self.logger.warning(f"浠诲姟 {task.taskId} 鍒嗛厤缁橝GV {best_agv.agvId} 澶辫触")
+ else:
+ self.logger.warning(f"AGV {best_agv.agvId} 娌℃湁鍙敤鐨勮儗绡撲綅缃�")
+ available_agvs.remove(best_agv)
+ else:
+ self.logger.warning(f"鏃犳硶鑾峰彇AGV {best_agv.agvId} 鐨勭姸鎬佷俊鎭�")
+
+ return assignments
+
+
+class MultiObjectiveAllocation(TaskAllocation):
+ """澶氱洰鏍囦紭鍖栧垎閰嶇畻娉�"""
+
+ def __init__(self, agv_manager: AGVModelManager,
+ distance_weight: float = 0.4,
+ load_weight: float = 0.3,
+ efficiency_weight: float = 0.3):
+ """
+ 鍒濆鍖栧鐩爣浼樺寲鍒嗛厤绠楁硶
+
+ Args:
+ agv_manager: AGV妯″瀷绠＄悊鍣�
+ distance_weight: 璺濈鏉冮噸
+ load_weight: 璐熻浇鏉冮噸
+ efficiency_weight: 鏁堢巼鏉冮噸
+ """
+ super().__init__(agv_manager)
+ self.distance_weight = distance_weight
+ self.load_weight = load_weight
+ self.efficiency_weight = efficiency_weight
+
+ def allocate_tasks(self, tasks: List[TaskData]) -> List[TaskAssignment]:
+ """
+ 浣跨敤澶氱洰鏍囦紭鍖栫瓥鐣ュ垎閰嶄换鍔�
+
+ Args:
+ tasks: 寰呭垎閰嶇殑浠诲姟鍒楄〃
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉鍒楄〃
+ """
+ if not tasks:
+ return []
+
+ # 鑾峰彇鎵�鏈堿GV
+ all_agvs = self.agv_manager.get_all_agvs()
+
+ if not all_agvs:
+ self.logger.warning("娌℃湁AGV杩涜浠诲姟鍒嗛厤")
+ return []
+
+ # 1. 棣栧厛妫�鏌ヤ换鍔℃槸鍚﹀凡缁忓垎閰嶏紝閬垮厤閲嶅鍒嗛厤
+ already_assigned_tasks = set()
+ for agv in all_agvs:
+ if agv.backpack:
+ for backpack_item in agv.backpack:
+ if backpack_item.taskId:
+ already_assigned_tasks.add(backpack_item.taskId)
+ self.logger.info(f"浠诲姟 {backpack_item.taskId} 宸插垎閰嶇粰 AGV {agv.agvId}锛岃烦杩囬噸澶嶅垎閰�")
+
+ # 2. 杩囨护鎺夊凡鍒嗛厤鐨勪换鍔�
+ unassigned_tasks = [task for task in tasks if task.taskId not in already_assigned_tasks]
+
+ if not unassigned_tasks:
+ self.logger.info("鎵�鏈変换鍔￠兘宸插垎閰嶏紝鏃犻渶閲嶆柊鍒嗛厤")
+ return []
+
+ self.logger.info(f"鎬讳换鍔℃暟: {len(tasks)}, 宸插垎閰�: {len(already_assigned_tasks)}, 寰呭垎閰�: {len(unassigned_tasks)}")
+
+ assignments = []
+ path_mapping = self.agv_manager.path_mapping
+
+ # 瀵规瘡涓换鍔�-AGV瀵硅绠楀緱鍒�
+ task_agv_scores = {}
+
+ for task in unassigned_tasks:
+ task_start_coord = get_coordinate_from_path_id(task.start, path_mapping)
+ if not task_start_coord:
+ continue
+
+ for agv in all_agvs:
+ if not agv.can_accept_task(task.priority):
+ continue
+
+ # 璺濈寰楀垎
+ distance_score = 0.0
+ if agv.coordinates:
+ distance = calculate_manhattan_distance(agv.coordinates, task_start_coord)
+ distance_score = 1.0 / (1.0 + distance / 100.0)
+
+ # 璐熻浇寰楀垎
+ load_score = 1.0 - agv.get_workload_ratio()
+
+ # 鏁堢巼寰楀垎
+ efficiency_score = agv.calculate_efficiency_score(path_mapping)
+
+ # 璁＄畻缁煎悎寰楀垎
+ total_score = (
+ self.distance_weight * distance_score +
+ self.load_weight * load_score +
+ self.efficiency_weight * efficiency_score
+ )
+
+ task_agv_scores[(task.taskId, agv.agvId)] = total_score
+
+ # 浣跨敤璐績绠楁硶杩涜鍖归厤
+ assignments = self._greedy_matching(unassigned_tasks, all_agvs, task_agv_scores)
+
+ return assignments
+
+ def _greedy_matching(self, tasks: List[TaskData], agvs: List[AGVModel],
+ scores: Dict[Tuple[str, str], float]) -> List[TaskAssignment]:
+ """
+ 浣跨敤璐績绠楁硶杩涜浠诲姟-AGV鍖归厤
+
+ Args:
+ tasks: 浠诲姟鍒楄〃
+ agvs: AGV鍒楄〃
+ scores: 浠诲姟-AGV瀵圭殑寰楀垎
+
+ Returns:
+ List[TaskAssignment]: 鍒嗛厤缁撴灉
+ """
+ assignments = []
+ remaining_tasks = [task.taskId for task in tasks]
+
+ # 閲嶅鍒嗛厤鐩村埌娌℃湁浠诲姟鎴栨病鏈夊彲鐢ˋGV
+ while remaining_tasks:
+ # 鎵惧埌寰楀垎鏈�楂樼殑浠诲姟-AGV瀵�
+ best_score = -1
+ best_task_id = None
+ best_agv = None
+
+ for task_id in remaining_tasks:
+ for agv in agvs:
+ if agv.is_overloaded():
+ continue
+
+ score = scores.get((task_id, agv.agvId), 0.0)
+ if score > best_score:
+ best_score = score
+ best_task_id = task_id
+ best_agv = agv
+
+ if best_task_id and best_agv:
+ # 鑾峰彇AGV鐨勫師濮嬬姸鎬佹暟鎹潵鏌ユ壘鍙敤鑳岀瘬浣嶇疆
+ agv_status = self.agv_manager.get_agv_status(best_agv.agvId)
+
+ if agv_status:
+ # 鏌ユ壘鍙敤鐨勮儗绡撲綅缃�
+ available_lev_id = self.find_available_backpack_slot(agv_status)
+
+ if available_lev_id is not None:
+ # 鎵惧埌瀵瑰簲鐨勪换鍔″璞�
+ task = next((t for t in tasks if t.taskId == best_task_id), None)
+ if task:
+ # 鍒嗛厤浠诲姟鍒版寚瀹氳儗绡撲綅缃�
+ success = self.assign_task_with_backpack(best_agv, task, available_lev_id)
+ if success:
+ assignments.append(TaskAssignment(
+ taskId=best_task_id,
+ agvId=best_agv.agvId,
+ lev_id=available_lev_id
+ ))
+
+ remaining_tasks.remove(best_task_id)
+ self.logger.info(f"澶氱洰鏍囦紭鍖栵細浠诲姟 {best_task_id} 鍒嗛厤缁橝GV {best_agv.agvId}锛岃儗绡撲綅缃�: {available_lev_id}锛屽緱鍒�: {best_score:.3f}")
+ else:
+ self.logger.warning(f"浠诲姟 {best_task_id} 鍒嗛厤缁橝GV {best_agv.agvId} 澶辫触")
+ break
+ else:
+ self.logger.error(f"鎵句笉鍒颁换鍔� {best_task_id} 鐨勮缁嗕俊鎭�")
+ break
+ else:
+ self.logger.debug(f"AGV {best_agv.agvId} 娌℃湁鍙敤鐨勮儗绡撲綅缃紝璺宠繃")
+ break
+ else:
+ self.logger.warning(f"鏃犳硶鑾峰彇AGV {best_agv.agvId} 鐨勭姸鎬佷俊鎭�")
+ break
+ else:
+ break
+
+ return assignments
+
+
+class TaskAllocationFactory:
+ """浠诲姟鍒嗛厤绠楁硶宸ュ巶绫�"""
+
+ @staticmethod
+ def create_allocator(algorithm_type: str, agv_manager: AGVModelManager) -> TaskAllocation:
+ """
+ 鍒涘缓浠诲姟鍒嗛厤绠楁硶
+
+ Args:
+ algorithm_type: 绠楁硶绫诲瀷
+ agv_manager: AGV妯″瀷绠＄悊鍣�
+
+ Returns:
+ TaskAllocation: 浠诲姟鍒嗛厤绠楁硶瀵硅薄
+ """
+ if algorithm_type == "NEAREST_FIRST":
+ return NearestFirstAllocation(agv_manager)
+ elif algorithm_type == "LOAD_BALANCED":
+ return LoadBalancedAllocation(agv_manager)
+ elif algorithm_type == "PRIORITY_FIRST":
+ return PriorityFirstAllocation(agv_manager)
+ elif algorithm_type == "MULTI_OBJECTIVE":
+ return MultiObjectiveAllocation(agv_manager)
+ else:
+ # 榛樿浣跨敤璐熻浇鍧囪 绠楁硶
+ return LoadBalancedAllocation(agv_manager)
\ No newline at end of file
--
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