From 2b91132611788f78ff4d32fd7798ea739cc588e2 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 27 三月 2025 11:12:26 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java | 47 ++++++++++++++++++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 36 ++++++++++++------
2 files changed, 69 insertions(+), 14 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java
index ef1c926..37bd109 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/AgvAreaDispatcher.java
@@ -1,6 +1,10 @@
package com.zy.acs.manager.core.constant;
-import org.springframework.stereotype.Component;
+import com.zy.acs.manager.manager.entity.Loc;
+import com.zy.acs.manager.manager.entity.Task;
+import com.zy.acs.manager.manager.service.LocService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
import javax.annotation.PostConstruct;
import java.util.List;
@@ -10,11 +14,14 @@
import static com.zy.acs.manager.core.constant.AreaConstant.*;
import static com.zy.acs.manager.core.constant.AreaDisableConstant.*;
-@Component
+@Service
public class AgvAreaDispatcher {
public static final Map<String, List<String>> AGV_AREA = new ConcurrentHashMap<>();
public static final Map<String, List<String>> AGV_DISABLE_AREA = new ConcurrentHashMap<>();
+
+ @Autowired
+ private LocService locService;
@PostConstruct
public void init() {
@@ -58,4 +65,40 @@
}
}
+ public List<String> getAgvNosByTask(Task task) {
+ if (null == task) {
+ return null;
+ }
+ Loc oriLoc = null;
+ Loc destLoc = null;
+ if (null != task.getOriLoc()) {
+ oriLoc = locService.getById(task.getOriLoc());
+ return this.getAgvNosByRow(oriLoc.getRow());
+ }
+ if (null != task.getDestLoc()) {
+ destLoc = locService.getById(task.getDestLoc());
+ return this.getAgvNosByRow(destLoc.getRow());
+ }
+ return null;
+ }
+
+ public List<String> getAgvNosByRow(Integer row) {
+ if (LocGroupConstant.FAR_LEFT_LOC_ROW_LIST.contains(row)) {
+ return AgvGroupConstant.FIRST_AGV_GROUP;
+ }
+ if (LocGroupConstant.LEFT_LOC_ROW_LIST.contains(row)) {
+ return AgvGroupConstant.SECOND_AGV_GROUP;
+ }
+ if (LocGroupConstant.MIDDLE_LOC_ROW_LIST.contains(row)) {
+ return AgvGroupConstant.THIRD_AGV_GROUP;
+ }
+ if (LocGroupConstant.RIGHT_LOC_ROW_LIST.contains(row)) {
+ return AgvGroupConstant.FOURTH_AGV_GROUP;
+ }
+ if (LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST.contains(row)) {
+ return AgvGroupConstant.FIFTH_AGV_GROUP;
+ }
+ return null;
+ }
+
}
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 e396ba6..b8cc3ef 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
@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
+import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.manager.entity.*;
@@ -43,16 +44,27 @@
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<String> agvNos) {
+ List<Agv> agvList = new ArrayList<>();
+ if (Cools.isEmpty(agvNos)) {
+ agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ } else {
+ for (String agvNo : agvNos) {
+ Agv agv = agvService.selectByUuid(agvNo);
+ if (agv.getStatusBool()) {
+ agvList.add(agv);
+ }
+ }
+ }
+ 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 +75,16 @@
)) {
continue;
}
-
// 2. in idle status
if (!agvService.judgeEnable(agv.getId(), true)) {
continue;
}
- result.add(agv);
+ result.add(agv.getUuid());
+ }
+
+ if (!Cools.isEmpty(result)) {
+ Collections.shuffle(result);
}
return result;
@@ -85,19 +100,16 @@
* 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));
+ 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);
--
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