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/service/AllocateService.java | 36 ++++++++++++++++++++++++------------
1 files changed, 24 insertions(+), 12 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 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);
--
Gitblit v1.9.1