From 2ddf6fc24333df35bd1ac15848b917336d533d53 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期二, 09 九月 2025 09:22:43 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 155 +++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 136 insertions(+), 19 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index 70cd627..b98f6bb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -5,20 +5,15 @@
import com.zy.acs.common.enums.AgvStatusType;
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.manager.entity.*;
-import com.zy.acs.manager.manager.enums.FuncStaType;
-import com.zy.acs.manager.manager.enums.StatusType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.mapper.FuncStaMapper;
import com.zy.acs.manager.manager.service.*;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.Comparator;
-import java.util.List;
+import java.util.*;
import java.util.stream.Collectors;
@Service("funcStaService")
@@ -34,6 +29,8 @@
private AgvModelService agvModelService;
@Autowired
private TaskService taskService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
@Override
public FuncSta getByCodeAndType(Long codeId, String type) {
@@ -56,14 +53,29 @@
@Override
public List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId) {
LambdaQueryWrapper<FuncSta> wrapper = new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getType, type).eq(FuncSta::getStatus, StatusType.ENABLE.val);
+ .eq(FuncSta::getType, type).eq(FuncSta::getStatus, StatusType.ENABLE.val).eq(FuncSta::getState, FuncStaStateType.IDLE.toString());
List<FuncSta> funcStaList = this.list(wrapper);
if (Cools.isEmpty(funcStaList)) {
return new ArrayList<>();
}
- Collections.shuffle(funcStaList);
+ // area limit
+ List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
+ if (Cools.isEmpty(areaCodeList)) {
+ funcStaList.clear();
+ } else {
+ funcStaList.removeIf(funcSta -> {
+ Code code = codeService.getCacheById(funcSta.getCode());
+ if (Cools.isEmpty(code, code.getData())) { return true; }
+ return !areaCodeList.contains(code.getData());
+ });
+ }
+
+ if (!Cools.isEmpty(funcStaList)) {
+ Collections.shuffle(funcStaList);
+ }
+
// filter idle
funcStaList = funcStaList.stream().filter(funcSta -> {
@@ -76,8 +88,8 @@
if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
// if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
- if (null != agv) {
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ if (null != agv && !agv.getId().equals(agvId)) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getVol() < agvModel.getQuaBattery()) {
@@ -99,7 +111,7 @@
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .in(Task::getTaskType, TaskTypeType.TO_STANDBY.val(), TaskTypeType.TO_CHARGE.val())
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -113,7 +125,11 @@
if (null == agv) {
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .in(Task::getTaskType
+ , TaskTypeType.TO_STANDBY.val()
+ , TaskTypeType.TO_CHARGE.val()
+ , TaskTypeType.MOVE.val()
+ )
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -121,10 +137,13 @@
}
} else {
- // if there is an agv on the code of this funSta, should we let this agv leave?
- // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
+ if (!agv.getId().equals(agvId)) {
+ // if there is an agv on the code of this funSta, should we let this agv leave?
+ // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
// Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
+ return false;
+ }
}
}
@@ -142,7 +161,7 @@
}
if (null != codeId) {
- Code currCode = codeService.getById(codeId);
+ Code currCode = codeService.getCacheById(codeId);
Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
// checkout one funSta which is the closest
@@ -151,10 +170,10 @@
funcStaList.sort(new Comparator<FuncSta>() {
@Override
public int compare(FuncSta o1, FuncSta o2) {
- Code o1Code = codeService.getById(o1.getCode());
+ Code o1Code = codeService.getCacheById(o1.getCode());
int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
- Code o2Code = codeService.getById(o2.getCode());
+ Code o2Code = codeService.getCacheById(o2.getCode());
int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
return o1Distance - o2Distance;
@@ -166,4 +185,102 @@
return funcStaList.stream().findFirst().orElse(null);
}
+ @Override
+ public FuncSta checkoutFurthestFunSta(Long codeId, List<FuncSta> funcStaList) {
+ if (Cools.isEmpty(funcStaList)) {
+ return null;
+ }
+
+ if (null != codeId) {
+ Code currCode = codeService.getCacheById(codeId);
+ Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
+
+ // checkout one funSta which is the closest
+
+ // compare => compare杩斿洖璐熸暟锛屽垯鎺掑湪闆嗗悎鍓嶉潰 锛坅sc锛�
+ funcStaList.sort(new Comparator<FuncSta>() {
+ @Override
+ public int compare(FuncSta o1, FuncSta o2) {
+ Code o1Code = codeService.getCacheById(o1.getCode());
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+
+ Code o2Code = codeService.getCacheById(o2.getCode());
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+
+ return o2Distance - o1Distance;
+ }
+ });
+
+ }
+
+ return funcStaList.stream().findFirst().orElse(null);
+ }
+
+ @Override
+ public Boolean isCanBeIdle(FuncSta funcSta) {
+ Agv agv;
+ switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
+ case CHARGE:
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .eq(Task::getDestCode, funcSta.getCode())
+ .and(i -> {
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ return false;
+ } else {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask
+ && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
+ && latestTask.getDestCode().equals(funcSta.getCode())
+ ) {
+ // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ return false;
+ }
+ }
+ }
+ }
+ break;
+ case STANDBY:
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .eq(Task::getDestCode, funcSta.getCode())
+ .and(i -> {
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask
+ && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
+ && latestTask.getDestCode().equals(funcSta.getCode())
+ ) {
+ return false;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+ return true;
+ }
+
}
--
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