From 4c9169967a879b54c04b0754ab9830a5a6baa708 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 18 三月 2025 14:30:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 222 ++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 179 insertions(+), 43 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 4a43739..1496bca 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -2,29 +2,30 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
+import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
+import com.zy.acs.manager.core.cache.CoreCache;
+import com.zy.acs.manager.core.domain.CodeStepDto;
+import com.zy.acs.manager.core.domain.type.JobType;
import com.zy.acs.manager.manager.entity.Agv;
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.entity.Task;
+import com.zy.acs.manager.manager.entity.Travel;
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.service.AgvDetailService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.TaskService;
+import com.zy.acs.manager.manager.enums.TravelStateType;
+import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
import java.util.concurrent.*;
+import java.util.stream.Collectors;
/**
* Created by vincent on 11/9/2024
@@ -33,13 +34,25 @@
@Service
public class PatrolService {
- private static final int SCHEDULE_TIME_INTERVAL = 5;
+ private static final int SCHEDULE_TIME_INTERVAL = 100;
- private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
+ public static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
private ScheduledExecutorService scheduler = null;
+
+ private List<String> CODE_DATA_CACHE = new ArrayList<>();
+
+ private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
+
+ private List<String> CONVEYOR_DROP_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000048");
+ }};
+
+ private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000146");
+ }};
@Autowired
private AgvService agvService;
@@ -48,56 +61,167 @@
@Autowired
private TaskService taskService;
@Autowired
- private MainService mainService;
+ private MainLockWrapService mainLockWrapService;
@Autowired
private CodeService codeService;
@Autowired
private MapService mapService;
+ @Autowired
+ private TravelService travelService;
+ @Autowired
+ private AllocateService allocateService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private AgvModelService agvModelService;
+
+ // pick & drop logic --------------------------------------------------
+
+ private void executeUShapeConveyor(String agvNo) {
+ Long agvId = agvService.getAgvId(agvNo);
+ if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
+ .eq(Travel::getAgvId, agvId)
+ .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
+ return;
+ }
+ if (!agvService.judgeEnable(agvId)) {
+ return;
+ }
+
+ JobType jobType = CoreCache.AGV_MOCK_JOB_CACHE.get(agvNo);
+ if (null == jobType) {
+ CoreCache.AGV_MOCK_JOB_CACHE.put(agvNo, JobType.LOC_PICK);
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
+ jobType = JobType.LOC_PICK;
+ }
+
+ String destinationCodeData = null;
+ switch (jobType) {
+ case LOC_PICK:
+ // 5, 4, 3, 2, 1
+ int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (0 < locPickRemaining) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ case CONVEYOR_DROP:
+ destinationCodeData = this.getConveyorDropCode(agvNo);
+ break;
+ case CONVEYOR_PICK:
+ destinationCodeData = this.getConveyorPickCode(agvNo);
+ break;
+ case LOCK_DROP:
+ // 0, 1, 2, 3, 4
+ int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (locDropRemaining < agvModelService.getByAgvId(agvId).getBackpack()) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ default:
+ log.warn("AGV {}: 鏈煡闃舵: {}", agvNo, jobType);
+ break;
+ }
+ if (Cools.isEmpty(destinationCodeData)) {
+ return;
+ }
+
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
+
+ CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
+ }
+ }
+
+ public String getLocCode(String agvNo, AgvDetail agvDetail) {
+ if (LOC_CODE_DATA_CACHE.isEmpty()) {
+ return null;
+ }
+ Collections.shuffle(LOC_CODE_DATA_CACHE);
+ for (String locCodeData : LOC_CODE_DATA_CACHE) {
+ Code locCode = codeService.getCacheByData(locCodeData);
+
+ // valid lane
+ if (!allocateService.validCapacityOfLane(agvNo, locCode)) {
+ continue;
+ }
+
+ return locCodeData;
+ }
+ return LOC_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorDropCode(String agvNo) {
+ return CONVEYOR_DROP_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorPickCode(String agvNo) {
+ return CONVEYOR_PICK_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+
+ // pure move logic --------------------------------------------------
private void executePatrolLogic(String agvNo) {
this.patrolOfMove(agvNo);
}
private void patrolOfMove(String agvNo) {
- Agv agv = agvService.selectByUuid(agvNo);
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
- if (taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
- .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
+ Long agvId = agvService.getAgvId(agvNo);
+ if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
+ .eq(Travel::getAgvId, agvId)
+ .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
return;
}
- if (!agvService.judgeEnable(agv.getId())) {
+ if (!agvService.judgeEnable(agvId)) {
return;
}
- Code randomCode = this.getRandomCode(agvDetail);
- if (null == randomCode) {
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
+ String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
+ if (Cools.isEmpty(destinationCodeData)) {
return;
}
- if (mainService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, randomCode.getData())) {
- log.info(agv.getUuid() + "寮�濮嬭蛋琛屾紨绀�...");
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info( "{}寮�濮嬭蛋琛屾紨绀�...", agvNo);
}
}
- public Code getRandomCode(AgvDetail agvDetail) {
- Code startCode = codeService.getById(agvDetail.getRecentCode());
- List<String> notInCodeList = new ArrayList<>();
- notInCodeList.add("00000061");
- List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
- Collections.shuffle(list);
- for (Code endCode : list) {
+ /**
+ * 4涓湴鏂硅皟鐢ㄤ簡buildMinorTask锛屽湪浠�涔堟椂鍊欍�佸摢閲岃缃畉ask鐨刲ane
+ * (
+ * HandlerController, 鎵嬪姩 锛堟墜鍔ㄦ槸鍚﹂渶瑕佸垽鏂璴ane锛�
+ * MaintainScheduler, 鑷姩 锛堜竴鑸笉闇�瑕佽�冭檻 lane锛�
+ * PatrolService, 鑷姩 锛堥渶瑕侀澶勭悊 lane锛� 鉁�
+ * TrafficService, 鑷姩 锛堝鍧�鏃跺凡缁忓鐞嗚繃 lane锛� 鉁�
+ * )
+ * 璇勪及HandlerController娌℃湁璋冪敤buildMajorTask锛屾墜鍔ㄥ垱寤簍ask鐨勫彲琛屾��
+ * agv鍦板浘鍥炬爣鍙樺寲
+ */
+ public String getDestinationCode(String agvNo, AgvDetail agvDetail) {
+
+ Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+
+ List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
+ List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
+ Collections.shuffle(codeList);
+
+ for (String endCodeData : codeList) {
+ if (disableCodeList.contains(endCodeData)) { continue; }
+ Code endCode = codeService.getCacheByData(endCodeData);
+
+ // valid lane
+ if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
+ continue;
+ }
+
+ // valid path length
List<String> pathList = mapService.validFeasibility(startCode, endCode);
if (pathList.size() >= 5) {
- return endCode;
+ return endCodeData;
}
}
- return list.stream().findFirst().orElse(null);
+
+ return codeList.stream().findFirst().orElse(null);
}
-
-
// ---------------------------------------------------------------------------
@@ -117,21 +241,22 @@
Runnable patrolTask = () -> {
try {
executePatrolLogic(agvNo);
+// executeUShapeConveyor(agvNo);
} catch (Exception e) {
- log.error("鎵цAGV " + agvNo + " 璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: " + e.getMessage());
- e.printStackTrace();
+ log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: {}", agvNo, e.getMessage());
}
};
- ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
+ ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
AGV_PATROL_MAP.put(agvNo, scheduledFuture);
- log.info("宸插惎鍔ˋGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
+ log.info("宸插惎鍔ˋGV{}鐨勮窇搴撲换鍔°��", agvNo);
return R.ok();
}
public R shutdownPatrol(String agvNo) {
+ Long agvId = agvService.getAgvId(agvNo);
ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
if (scheduledFuture == null) {
return R.error("AGV " + agvNo + " 娌℃湁姝ｅ湪杩愯鐨勮窇搴撲换鍔°��");
@@ -140,7 +265,10 @@
boolean cancelled = scheduledFuture.cancel(true);
if (cancelled) {
AGV_PATROL_MAP.remove(agvNo);
- log.info("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
+ CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
+ CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
+ CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
+ log.info("宸插仠姝GV {} 鐨勮窇搴撲换鍔°��", agvNo);
return R.ok("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
} else {
log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
@@ -154,6 +282,14 @@
if (count > 0) {
this.scheduler = Executors.newScheduledThreadPool(count);
}
+ // init all code data
+ List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
+ this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ // int all loc code data
+ List<Code> locCodeList = codeService.getAllLocCode();
+ this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
}
@PreDestroy
--
Gitblit v1.9.1