From 368bc8d1f2b61543ef1b82d53568fbf1beb4dd39 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:00:23 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 89 +++++++++++++++++++++-----------------------
1 files changed, 43 insertions(+), 46 deletions(-)
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 297d0f4..45bdd19 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
@@ -15,6 +15,7 @@
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -350,13 +351,19 @@
/**
* 1.Map<String, List<TaskPosDto>> groups
*
- * key: 1000 + ORI_LOC
+ * key: 1000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 3000 + ORI_LOC
+ * key: 3000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 2000 + ORI_LOC
+ * key: 2000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 1000 + DESTINATION
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + DESTINATION
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
* ......
@@ -374,6 +381,8 @@
* 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
* List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
+ *
+ * tip: ORI 鍜� DEST 姘歌繙涓嶄細瀛樺湪鍚屼竴涓� List
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
list.sort((o1, o2) -> {
@@ -387,48 +396,35 @@
}
// 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);
-// }
-// }
-// }
+ Code currCode = codeService.getById(agvDetail.getRecentCode());
+ Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+
+ List<List<TaskPosDto>> pickGroups = new ArrayList<>();
+ List<List<TaskPosDto>> dropGroups = new ArrayList<>();
+
+ for (List<TaskPosDto> group : list) {
+ // Assume 涓�涓换鍔＄粍涓墍鏈塗askPosDto鐨凱osType.brief鐩稿悓
+ TaskPosDto.PosType posType = group.get(0).getPosType();
+ if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
+ pickGroups.add(group);
+ } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
+ dropGroups.add(group);
+ } else {
+ // import tip: the list must only contain ORIGIN and DESTINATION
+ log.error("the list must only contain ORIGIN and DESTINATION");
+ }
+ }
+
+ currPosition = allocateService.pac(currPosition, pickGroups);
+ currPosition = allocateService.pac(currPosition, dropGroups);
+
+ List<List<TaskPosDto>> reorderedList = new ArrayList<>();
+ reorderedList.addAll(pickGroups);
+ reorderedList.addAll(dropGroups);
+
+ list.clear();
+ list.addAll(reorderedList);
+
// generate travel
Travel travel = new Travel();
@@ -565,7 +561,7 @@
travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
travel.setAgvId(agv.getId());
// travel.setTaskContent(JSON.toJSONString(list));
- travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
+ travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
throw new BusinessException("travel failed to save");
@@ -611,6 +607,7 @@
} else {
if (null != jam && i == 0) {
jam.setAvoSeg(next.getId());
+ jam.setAvoCode(endCode.getId());
}
}
}
--
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