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/service/AllocateService.java | 55 +++++++++++++++++++++++++++++++++++++------------------
1 files changed, 37 insertions(+), 18 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
index 67c5841..e053b75 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -43,16 +43,33 @@
private LocService locService;
@Autowired
private LaneService laneService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
/**
* get available agv list which is idle
*/
- private List<Agv> getAvailableAgv() {
- List<Agv> result = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- Collections.shuffle(agvList);
- for (Agv agv : agvList) {
+ private List<String> getAvailableAgvNos(List<Long> agvIds) {
+// List<Agv> agvList = new ArrayList<>();
+// if (Cools.isEmpty(agvNos)) {
+// // global
+// agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+// } else {
+// // local
+// for (String agvNo : agvNos) {
+// Agv agv = agvService.selectByUuid(agvNo);
+// if (agv.getStatusBool()) {
+// agvList.add(agv);
+// }
+// }
+// }
+ List<Agv> agvList = Cools.isEmpty(agvIds)
+ ? agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val))
+ : agvIds.stream().map(agvService::getById).filter(Agv::getStatusBool).collect(Collectors.toList());
+
+ List<String> result = new ArrayList<>();
+ for (Agv agv : agvList) {
// 1. without running tasks
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getAgvId, agv.getId())
@@ -63,13 +80,17 @@
)) {
continue;
}
-
// 2. in idle status
if (!agvService.judgeEnable(agv.getId(), true)) {
continue;
}
- result.add(agv);
+ result.add(agv.getUuid());
+ }
+
+ if (!Cools.isEmpty(result)) {
+ // todo: 杞鏉冮噸
+ Collections.shuffle(result);
}
return result;
@@ -85,19 +106,17 @@
* it can break the limit of the number of agv backpack
*/
public synchronized Agv execute(Task task) {
- List<Agv> availableAgvList = getAvailableAgv();
- if (Cools.isEmpty(availableAgvList)) {
+ 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;
}
- List<String> availableAgvNos = availableAgvList.stream().map(Agv::getUuid).distinct().collect(Collectors.toList());
-
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
// checkout lane
Lane originLane = taskService.checkoutOriginLane(task);
Lane destinationLane = taskService.checkoutDestinationLane(task);
-
// allocate about origin
List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
@@ -177,10 +196,10 @@
return new ArrayList<>();
}
return agvNoList.stream().filter(agvNo -> {
- Agv agv = agvService.selectByUuid(agvNo);
+ Long agvId = agvService.getAgvId(agvNo);
+ int transportTasksCount = taskService.findTransportTasksCountByAgv(agvId);
AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
- List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId());
- return transportTasks.size() < agvModel.getBackpack();
+ return transportTasksCount < agvModel.getBackpack();
}).collect(Collectors.toList());
}
@@ -190,9 +209,9 @@
Long agvId = agvService.getAgvId(agvNo);
// backpack
- List<Task> transportTasks = taskService.findTransportTasksByAgv(agvId);
- if (!Cools.isEmpty(transportTasks)) {
- weight = weight + transportTasks.size() * 100000;
+ Integer transportTasksCount = taskService.findTransportTasksCountByAgv(agvId);
+ if (!Cools.isEmpty(transportTasksCount)) {
+ weight = weight + transportTasksCount * 100000;
}
// distance
--
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