From 2fa6b113248685c6569194e31aa10031d5c114c0 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 30 十月 2024 15:57:34 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 60 +++++++++++++++++++++++++++---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 9 +---
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/CommonUtil.java | 4 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataSubscriber.java | 1
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 7 +--
5 files changed, 64 insertions(+), 17 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/CommonUtil.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/CommonUtil.java
index f82ff5d..ee96b10 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/CommonUtil.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/CommonUtil.java
@@ -171,4 +171,8 @@
}
}
+ public static int calcDistance(Double[] from, Double[] to) {
+ return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
+ }
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataSubscriber.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataSubscriber.java
index 85c49c5..d22c727 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataSubscriber.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/listen/AgvDataSubscriber.java
@@ -26,6 +26,7 @@
@PostConstruct
private void start(){
+// redis.deleteList(RedisConstant.AGV_DATA_FLAG);
thread = new Thread(() -> {
while (!Thread.currentThread().isInterrupted()) {
try {
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 c62fe74..f63a66e 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
@@ -2,6 +2,7 @@
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.common.utils.LocUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.manager.entity.*;
@@ -224,14 +225,10 @@
assert null != firstCode;
Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
// calculate distance
- weight = weight + this.calcPositionDistance(fromPosition, toPosition);
+ weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);
// return opposite
return -weight;
- }
-
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
}
public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
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 e55da25..351573d 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
@@ -18,6 +18,7 @@
import com.zy.acs.common.utils.Utils;
import com.zy.acs.manager.common.domain.TaskDto;
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.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -290,7 +291,7 @@
taskList.sort(new Comparator<Task>() {
@Override
public int compare(Task o1, Task o2) {
- return o1.getPriority() - o2.getPriority();
+ return o2.getPriority() - o1.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -298,6 +299,7 @@
taskList = taskList.subList(0, backpack);
}
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
/**
@@ -410,6 +412,50 @@
taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
}
+ // re-order by agv current position
+ 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);
+
+ 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);
+ }
+ } else {
+ if (distanceByTailOfFirst < distanceByHeadOfFirst) {
+ Collections.reverse(theFirstOne);
+ }
+ }
+ }
+
// generate travel
Travel travel = new Travel();
travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
@@ -504,6 +550,9 @@
FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
endCode = codeService.getById(funcSta.getCode());
}
+ if (null == endCode) {
+ log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
+ }
break;
case MOVE:
endCode = codeService.selectByData(destination);
@@ -513,7 +562,6 @@
}
if (null == endCode) {
- log.error("{}鍙疯溅杈嗗缓绔嬪姛鑳戒换鍔″け璐ワ紝鏃犳硶妫�绱㈠埌鐩爣瀹氫綅锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
return false;
}
@@ -530,7 +578,7 @@
task.setIoTime(now);
task.setStartTime(now);
if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException(task.getSeqNum() + " failed to save");
}
// generate travel
@@ -542,7 +590,7 @@
travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("travel failed to save");
}
// generate segment
@@ -581,7 +629,7 @@
next.setState(SegmentStateType.WAITING.toString());
}
if (!segmentService.save(next)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("segment failed to save");
}
}
@@ -593,7 +641,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", destFuncSta.getName());
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
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 6ad0dcf..d9358ea 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
@@ -4,6 +4,7 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
@@ -152,10 +153,10 @@
@Override
public int compare(FuncSta o1, FuncSta o2) {
Code o1Code = codeService.getById(o1.getCode());
- int o1Distance = calcPositionDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
Code o2Code = codeService.getById(o2.getCode());
- int o2Distance = calcPositionDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
return o1Distance - o2Distance;
}
@@ -164,10 +165,6 @@
}
return funcStaList.stream().findFirst().orElse(null);
- }
-
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
}
}
--
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