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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