From 1809dba25f489ea01c07a9ecc977d9f408545310 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 05 一月 2026 09:41:49 +0800
Subject: [PATCH] 电压改电量
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java | 298 +++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 218 insertions(+), 80 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
index 15f7cbf..e496015 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
@@ -6,16 +6,12 @@
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;
+import com.zy.acs.manager.core.service.*;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.manager.service.impl.CodeServiceImpl;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -56,70 +52,86 @@
private AgvModelService agvModelService;
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
+ @Autowired
+ private AreaGovernService areaGovernService;
+ @Autowired
+ private CodeServiceImpl codeService;
-// @Scheduled(fixedRate = 500) // 鍥哄畾棰戠巼鎵ц锛屼笉鍚屾
+ // @Scheduled(fixedRate = 500) // 鍥哄畾棰戠巼鎵ц锛屼笉鍚屾
@Scheduled(fixedDelay = 1000) // 鍥哄畾棰戠巼鎵ц锛屽悓姝�
// @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;
- }
+ if (configService.getVal("TaskAssignMode", Boolean.class)) {
+ this.autoRun();
+ }
+ if (configService.getVal("TaskAssignMode1", Boolean.class,false)) {
+ this.autoRun0(1);
+ }
+ if (configService.getVal("TaskAssignMode2", Boolean.class,false)) {
+ this.autoRun0(2);
+ }
+ if (configService.getVal("TaskAssignMode3", Boolean.class,false)) {
+ this.autoRun0(3);
}
}
- 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);
// 鍏ュ簱
- this.runStaToLoc(locGroupList, staGroupList, staTaskMemo);
+ this.runStaToLoc0(memo);
// 鍑哄簱
- this.runLocToSta(locGroupList, staGroupList, staTaskMemo);
+ this.runLocToSta0(memo);
// 绉诲簱
- this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
+ this.runLocToLoc(memo);
}
- // 鍏ュ簱
- private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
- Integer startRow = Collections.min(locGroupList);
- Integer endRow = Collections.max(locGroupList);
+ private void autoRun0(Integer i) {
+ int availableAgvCount = this.getAvailableAgvCount();
+ if (0 == availableAgvCount) { return; }
+// List<String> staPreNos = getStaPrefixes(staGroupList);
+ List<String> staPreNos = new ArrayList<>();
+ String memo = "DEMO_STA_" + String.join("-", staPreNos);
+ if(i ==1){
+ // 鍏ュ簱
+ this.runStaToLoc0(memo);
+ }else if (i == 2){
+ // 鍑哄簱
+ this.runLocToSta0(memo);
+ }else if (i == 3){
+ // 绉诲簱
+ this.runLocToLoc(memo);
+ }
+ }
+
+
+ // 鍏ュ簱
+ 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) {
return;
}
- // STOCK
+ // STOCK STA
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);
@@ -150,10 +162,79 @@
mainService.generateBusAndTask(param, memo);
}
+ private void runStaToLoc0(String memo) {
+ int availableAgvCount = this.getAvailableAgvCount();
+
+ // 鏈�澶� ? 缁刡us杩愯
+ if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
+ .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
+ .in(Bus::getMemo, memo, memo)
+ )) { return; }
+
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) { return; }
+
+ // STOCK STA
+ List<Sta> stockList = staService.list(new LambdaQueryWrapper<Sta>()
+ .eq(Sta::getStaSts, StaStsType.STOCK.val())
+ .eq(Sta::getStatus, StatusType.ENABLE.val));
+ if (Cools.isEmpty(stockList)) { return; }
+ Collections.shuffle(stockList);
+
+ OpenBusSubmitParam param = new OpenBusSubmitParam();
+ param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
+ for (int i = 0; i < Math.min(agvModel.getBackpack(), stockList.size()) ; i++) {
+ Sta stockSta = stockList.get(i);
+ String staCode = stockSta.getCode$();
+
+ Loc idleLoc = null;
+
+ // 鎵�鍦ㄥ尯鍩熺殑鏉＄爜锛屽鏋滄病鏈塧rea缁戝畾锛屽氨鍏ㄥ湴鍥�
+ List<String> codeList = areaGovernService.queryCodesByOneCode(staCode);
+ if (Cools.isEmpty(codeList)) {
+ idleLoc = locService.selectRandOneByLocSts(LocStsType.IDLE.val(), 1);
+ } else {
+ Collections.shuffle(codeList);
+ for (String codeData : codeList) {
+ Code code = codeService.getCacheByData(codeData);
+ if (null == code) { break; }
+ List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, code.getId()).eq(Loc::getLocSts, LocStsType.IDLE.val()));
+ if (Cools.isEmpty(locList)) {
+ break;
+ } else if (locList.size() == 1) {
+ idleLoc = locList.get(0);
+ } else {
+ Collections.shuffle(locList);
+ idleLoc = locList.get(0);
+ }
+ if (null != idleLoc) {
+ break;
+ }
+ }
+ }
+
+ if (null == idleLoc) { break; }
+
+ TaskDto taskDto = new TaskDto();
+ taskDto.setOriSta(stockSta.getStaNo());
+ taskDto.setDestLoc(idleLoc.getLocNo());
+ taskDto.setPriority(100);
+ taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
+
+ param.getTaskList().add(taskDto);
+ }
+ if (Cools.isEmpty(param.getTaskList())) { return; }
+
+ mainService.generateBusAndTask(param, memo);
+ }
+
// 鍑哄簱
- 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 +246,8 @@
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;
@@ -200,54 +282,109 @@
mainService.generateBusAndTask(param, memo);
}
+ private void runLocToSta0(String memo) {
+ int availableAgvCount = this.getAvailableAgvCount();
+
+ // 鏈�澶� ? 缁刡us杩愯
+ if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
+ .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
+ .in(Bus::getMemo, memo, memo)
+ )) { return; }
+
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) { return; }
+
+ // IDLE STA
+ List<Sta> idleList = staService.list(new LambdaQueryWrapper<Sta>()
+ .eq(Sta::getStaSts, StaStsType.IDLE.val())
+ .eq(Sta::getStatus, StatusType.ENABLE.val));
+ if (Cools.isEmpty(idleList)) { return; }
+ Collections.shuffle(idleList);
+
+ OpenBusSubmitParam param = new OpenBusSubmitParam();
+ param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
+ for (int i = 0; i < Math.min(agvModel.getBackpack(), idleList.size()) ; i++) {
+ Sta idleSta = idleList.get(i);
+ String staCode = idleSta.getCode$();
+
+ Loc stockLoc = null;
+
+ // 鎵�鍦ㄥ尯鍩熺殑鏉＄爜锛屽鏋滄病鏈塧rea缁戝畾锛屽氨鍏ㄥ湴鍥�
+ List<String> codeList = areaGovernService.queryCodesByOneCode(staCode);
+ if (Cools.isEmpty(codeList)) {
+ stockLoc = locService.selectRandOneByLocSts(LocStsType.STOCK.val(), 1);
+ } else {
+ Collections.shuffle(codeList);
+ for (String codeData : codeList) {
+ Code code = codeService.getCacheByData(codeData);
+ if (null == code) { break; }
+ List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, code.getId()).eq(Loc::getLocSts, LocStsType.STOCK.val()));
+ if (Cools.isEmpty(locList)) {
+ break;
+ } else if (locList.size() == 1) {
+ stockLoc = locList.get(0);
+ } else {
+ Collections.shuffle(locList);
+ stockLoc = locList.get(0);
+ }
+ if (null != stockLoc) {
+ break;
+ }
+ }
+ }
+
+ if (null == stockLoc) { break; }
+
+ TaskDto taskDto = new TaskDto();
+ taskDto.setOriLoc(stockLoc.getLocNo());
+ taskDto.setDestSta(idleSta.getStaNo());
+ taskDto.setPriority(100);
+ taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
+
+ param.getTaskList().add(taskDto);
+ }
+ if (Cools.isEmpty(param.getTaskList())) { return; }
+
+ mainService.generateBusAndTask(param, memo);
+ }
+
// 绉诲簱
- 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) {
+ String memo = "DEMO_LOC";
- String memo = "DEMO_LOC_" + startRow + "-" + endRow;
-
- int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
+ int availableAgvCount = this.getAvailableAgvCount();
// 鏈�澶� ? 缁刡us杩愯
if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
.in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
.in(Bus::getMemo, memo, staTaskMemo)
- )) {
- return;
- }
+ )) { return; }
AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
- if (null == agvModel) {
- return;
- }
+ if (null == agvModel) { return; }
+
int maxCapacity = agvModel.getBackpack();
// STOCK
- LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
- if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
- if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
- List<Loc> stockList = locService.list(stockWrapper);
- if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
+ List<Loc> stockLocList = locService.selectRandByLocSts(LocStsType.STOCK.val(), maxCapacity);
+ if (Cools.isEmpty(stockLocList)) {
return;
}
- Collections.shuffle(stockList);
+ Collections.shuffle(stockLocList);
// IDLE
- LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
- if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
- if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
- List<Loc> idleList = locService.list(idleWrapper);
- if (Cools.isEmpty(idleList)) {
+ List<Loc> idleLocList = locService.selectRandByLocSts(LocStsType.IDLE.val(), maxCapacity);
+ if (Cools.isEmpty(idleLocList)) {
return;
}
- Collections.shuffle(idleList);
+ Collections.shuffle(idleLocList);
OpenBusSubmitParam param = new OpenBusSubmitParam();
param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
- for (int i = 0; i < Math.min(maxCapacity, Math.min(stockList.size(), idleList.size())); i++) {
- Loc stockLoc = stockList.get(i);
- Loc idleLoc = idleList.get(i);
+ for (int i = 0; i < Math.min(maxCapacity, Math.min(stockLocList.size(), idleLocList.size())); i++) {
+ Loc stockLoc = stockLocList.get(i);
+ Loc idleLoc = idleLocList.get(i);
TaskDto taskDto = new TaskDto();
taskDto.setOriLoc(stockLoc.getLocNo());
@@ -256,6 +393,7 @@
param.getTaskList().add(taskDto);
}
+ if (Cools.isEmpty(param.getTaskList())) { return; }
mainService.generateBusAndTask(param, memo);
}
@@ -270,16 +408,16 @@
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;
}
--
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