From 2f0c77e7d871a1119d6cb143721bd920a6850e93 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 27 三月 2025 09:59:40 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 155 ++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 122 insertions(+), 33 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index abe9c47..4ef5050 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -4,6 +4,8 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
+import com.zy.acs.manager.core.constant.AgvGroupConstant;
+import com.zy.acs.manager.core.constant.LocGroupConstant;
import com.zy.acs.manager.core.domain.AgvTaskDto;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
@@ -15,9 +17,12 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
+import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Date;
@@ -33,8 +38,15 @@
@Component
public class KernelScheduler {
+ public static int CORE_SCAN_FREQUENCY_MILLISECOND = 15;
+
private static final int LOCK_TIMEOUT = 5;
+
private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
+
+ private Thread trafficCalcThread;
+
+ private Thread actionPublicThread;
@Autowired
private AgvService agvService;
@@ -61,7 +73,7 @@
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
- @Scheduled(cron = "0/3 * * * * ? ")
+ @Scheduled(cron = "0/1 * * * * ? ")
private void startupBus() throws InterruptedException {
if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
@@ -72,7 +84,7 @@
this.lock.unlock();
}
- @Scheduled(cron = "0/3 * * * * ? ")
+ @Scheduled(cron = "0/1 * * * * ? ")
private void calculateSeg() throws InterruptedException {
if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
List<Task> taskList = taskService.selectBySts(TaskStsType.WAITING);
@@ -95,23 +107,73 @@
this.lock.unlock();
}
- @Scheduled(cron = "0/1 * * * * ? ")
- private void traffic() {
- List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getState, SegmentStateType.WAITING.toString())
- );
- for (Segment segment : segments) {
- trafficService.trigger(segment);
- }
+// @PostConstruct
+ @EventListener(ApplicationReadyEvent.class)
+ public void init() {
+ try { Thread.sleep(1200); } catch (InterruptedException ignore) {}
+ // traffic calculate
+ this.trafficCalcThread = new Thread(() -> {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+ Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);
+
+ List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getState, SegmentStateType.WAITING.toString())
+ );
+ for (Segment segment : segments) {
+ long startTime = System.currentTimeMillis();
+ trafficService.trigger(segment);
+ log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
+ }
+
+ } catch (Exception e) {
+ log.error("KernelScheduler.trafficCalcThread fail", e);
+ }
+ }
+ });
+ this.trafficCalcThread.start();
+ // public action
+ this.actionPublicThread = new Thread(() -> {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+ Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);
+
+ List<String> actionGroupIds = actionService.selectGroupNo(ActionStsType.PREPARE);
+ for (String actionGroupId : actionGroupIds) {
+ mainService.publishAction(actionGroupId);
+ }
+
+ } catch (Exception e) {
+ log.error("KernelScheduler.actionPublicThread fail", e);
+ }
+ }
+ });
+ this.actionPublicThread.start();
}
- @Scheduled(cron = "0/1 * * * * ? ")
- private void publishAction(){
- List<String> actionGroupIds = actionService.selectPrepareGroup();
- for (String actionGroupId : actionGroupIds) {
- mainService.publishAction(actionGroupId);
- }
- }
+// @Scheduled(fixedRate = 500) // 500姣鎵ц涓�娆★紝涓嶅悓姝�
+// @Scheduled(fixedDelay = 500) // 500姣鎵ц涓�娆★紝鍚屾
+// @Scheduled(cron = "0/1 * * * * ? ")
+// private void traffic() {
+// List<Segment> segments = segmentService.list(new LambdaQueryWrapper<Segment>()
+// .eq(Segment::getState, SegmentStateType.WAITING.toString())
+// );
+// for (Segment segment : segments) {
+// long startTime = System.currentTimeMillis();
+// trafficService.trigger(segment);
+// log.info("traffic calculation spend {} ms", System.currentTimeMillis() - startTime);
+// }
+// }
+//
+// @Scheduled(cron = "0/1 * * * * ? ")
+// private void publishAction(){
+// List<String> actionGroupIds = actionService.selectPrepareGroup();
+// for (String actionGroupId : actionGroupIds) {
+// long startTime = System.currentTimeMillis();
+// mainService.publishAction(actionGroupId);
+// log.info("publish action calculation spend {} ms", System.currentTimeMillis() - startTime);
+// }
+// }
// patch ----------------------------------------------------------------------------------------------
@@ -147,9 +209,15 @@
}
-
-
-
+ @PreDestroy
+ public void shutDown(){
+ if (this.trafficCalcThread != null) {
+ this.trafficCalcThread .interrupt();
+ }
+ if (this.actionPublicThread != null) {
+ this.actionPublicThread .interrupt();
+ }
+ }
// auto loc to loc ----------------------------------------------------------------------------------------------
@@ -157,22 +225,41 @@
private void autoLocToLoc() {
if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
- // 鏈�澶氫袱缁刡us杩愯
-// if (1 < busService.count(new LambdaQueryWrapper<Bus>().in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val()))) {
-// return;
-// }
+ this.runLocToLoc(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.LEFT_LOC_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.MIDDLE_LOC_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.RIGHT_LOC_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
+ }
- int agvCount = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
- if (null == agvModel || 0 == agvCount) {
+ private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
+ Integer startRow = Collections.min(locGroupList);
+ Integer endRow = Collections.max(locGroupList);
+
+ String memo = "DEMO_" + startRow + "-" + endRow;
+
+ int agvCount = agvGroupList.size();
+
+ // 鏈�澶� ? 缁刡us杩愯
+ if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
+ .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
+ .eq(Bus::getMemo, memo)
+ )) {
return;
}
-// int maxCapacity = agvModel.getBackpack() * agvCount;
+
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) {
+ return;
+ }
int maxCapacity = agvModel.getBackpack();
// STOCK
- List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()));
- if (Cools.isEmpty(stockList)) {
+ LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
+ if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
+ List<Loc> stockList = locService.list(stockWrapper);
+ if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
return;
}
Collections.shuffle(stockList);
@@ -182,7 +269,10 @@
int numOfStockLocList = stockList.size();
// IDLE
- List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val()));
+ LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
+ if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
+ List<Loc> idleList = locService.list(idleWrapper);
if (Cools.isEmpty(idleList)) {
return;
}
@@ -203,10 +293,9 @@
taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
param.getTaskList().add(taskDto);
-
}
- mainService.generateBusAndTask(param, "autoLocToLoc");
+ mainService.generateBusAndTask(param, memo);
}
}
--
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