From 233ff9e9e82c67ac33695b479fd31df6ffb77b22 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:44:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 81 +++++++++++++++++++---------------------
1 files changed, 39 insertions(+), 42 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 7329135..45bdd19 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -15,6 +15,7 @@
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.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -22,7 +23,6 @@
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
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;
@@ -221,7 +221,7 @@
for (Task task : taskList) {
Agv agv = allocateService.execute(task);
if (null == agv) {
- log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
task.setAgvId(agv.getId());
@@ -249,7 +249,8 @@
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
if (!agvService.judgeEnable(agv.getId(), true)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
+ return;
+// throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "]鍒嗛厤浠诲姟澶辫触锛屽凡瀛樺湪鎵ц浠诲姟...");
@@ -350,13 +351,19 @@
/**
* 1.Map<String, List<TaskPosDto>> groups
*
- * key: 1000 + ORI_LOC
+ * key: 1000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 3000 + ORI_LOC
+ * key: 3000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 2000 + ORI_LOC
+ * key: 2000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 1000 + DESTINATION
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + DESTINATION
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
* ......
@@ -374,6 +381,8 @@
* 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
* List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
+ *
+ * tip: ORI 鍜� DEST 姘歌繙涓嶄細瀛樺湪鍚屼竴涓� List
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
list.sort((o1, o2) -> {
@@ -390,45 +399,32 @@
Code currCode = codeService.getById(agvDetail.getRecentCode());
Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
- List<TaskPosDto> theFirstOne = list.get(0);
- List<TaskPosDto> theLastOne = list.get(list.size() - 1);
+ List<List<TaskPosDto>> pickGroups = new ArrayList<>();
+ List<List<TaskPosDto>> dropGroups = new ArrayList<>();
- if (list.size() == 1) {
- TaskPosDto head = theFirstOne.get(0);
- TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
-
- int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
- int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
-
- if (distanceByTail < distanceByHead) {
- Collections.reverse(theFirstOne);
- }
-
- } else {
- TaskPosDto headOfFirst = theFirstOne.get(0);
- TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
-
- TaskPosDto headOfLast = theLastOne.get(0);
- TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
-
- int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
- int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
-
- int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
- int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
-
- if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
- Collections.reverse(list);
-
- if (distanceByTailOfLast < distanceByHeadOfLast) {
- Collections.reverse(theLastOne);
- }
+ for (List<TaskPosDto> group : list) {
+ // Assume 涓�涓换鍔＄粍涓墍鏈塗askPosDto鐨凱osType.brief鐩稿悓
+ TaskPosDto.PosType posType = group.get(0).getPosType();
+ if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
+ pickGroups.add(group);
+ } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
+ dropGroups.add(group);
} else {
- if (distanceByTailOfFirst < distanceByHeadOfFirst) {
- Collections.reverse(theFirstOne);
- }
+ // import tip: the list must only contain ORIGIN and DESTINATION
+ log.error("the list must only contain ORIGIN and DESTINATION");
}
}
+
+ currPosition = allocateService.pac(currPosition, pickGroups);
+ currPosition = allocateService.pac(currPosition, dropGroups);
+
+ List<List<TaskPosDto>> reorderedList = new ArrayList<>();
+ reorderedList.addAll(pickGroups);
+ reorderedList.addAll(dropGroups);
+
+ list.clear();
+ list.addAll(reorderedList);
+
// generate travel
Travel travel = new Travel();
@@ -565,7 +561,7 @@
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setAgvId(agv.getId());
// travel.setTaskContent(JSON.toJSONString(list));
- travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
throw new BusinessException("travel failed to save");
@@ -611,6 +607,7 @@
} else {
if (null != jam && i == 0) {
jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
}
}
}
--
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