From 500f6ce071c0bc14d6720354ce148599ac3f35ee Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 25 十月 2024 15:38:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 53 +++++++++++++-------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MissionAssignService.java | 14 +++----
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java | 4 -
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 30 +++++++++------
version/logical-line.xmind | 0
6 files changed, 53 insertions(+), 50 deletions(-)
diff --git a/version/logical-line.xmind b/version/logical-line.xmind
index e948f5d..372d5e5 100644
--- a/version/logical-line.xmind
+++ b/version/logical-line.xmind
Binary files differ
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 93c2025..1dfb30e 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
@@ -58,7 +58,7 @@
if (!this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS)) { return; }
List<Bus> busList = busService.selectBySts(BusStsType.RECEIVE);
for (Bus bus : busList) {
- mainService.infuseAgvForTask(bus);
+ mainService.allocateTask(bus);
}
this.lock.unlock();
}
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 9b3a1d8..8da6ca8 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
@@ -194,7 +194,7 @@
* 浠诲姟鍒嗛厤缁欒溅杈� ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
*/
@Transactional
- public synchronized void infuseAgvForTask(Bus bus) {
+ public synchronized void allocateTask(Bus bus) {
try {
Date now = new Date();
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -212,6 +212,7 @@
return;
}
+ List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
for (Task task : taskList) {
Agv agv = missionAssignService.execute(task);
if (null == agv) {
@@ -230,31 +231,31 @@
// ------------------------------------------
- List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
- Map<String, List<Long>> taskAllot = new HashMap<>();
- for (Task task : taskList) {
- Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
- if (null == agv) {
- log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
- continue;
- }
-
-
- task.setAgvId(agv.getId());
- task.setTaskSts(TaskStsType.WAITING.val());
- task.setIoTime(now);
- task.setUpdateTime(now);
- if (!taskService.updateById(task)) {
- throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
- }
-
- if (taskAllot.containsKey(agv.getUuid())) {
- taskAllot.get(agv.getUuid()).add(task.getId());
- } else {
- taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
- }
- }
+//
+// Map<String, List<Long>> taskAllot = new HashMap<>();
+// for (Task task : taskList) {
+// Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
+// if (null == agv) {
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
+// continue;
+// }
+//
+//
+// task.setAgvId(agv.getId());
+// task.setTaskSts(TaskStsType.WAITING.val());
+// task.setIoTime(now);
+// task.setUpdateTime(now);
+// if (!taskService.updateById(task)) {
+// throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+// }
+//
+// if (taskAllot.containsKey(agv.getUuid())) {
+// taskAllot.get(agv.getUuid()).add(task.getId());
+// } else {
+// taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
+// }
+// }
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -275,7 +276,7 @@
// valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
+ if (!agvService.judgeEnable(agv.getId(), true)) {
throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
}
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MissionAssignService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MissionAssignService.java
index 5ab9c71..cc5973b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MissionAssignService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MissionAssignService.java
@@ -59,8 +59,7 @@
}
// 2. in idle status
- final Agv finalAgv = agv;
- if (!agvService.judgeEnable(finalAgv.getId(), agvDetail -> agvDetail.getVol() > finalAgv.getChargeLine())) {
+ if (!agvService.judgeEnable(agv.getId(), true)) {
continue;
}
@@ -75,6 +74,7 @@
if (Cools.isEmpty(availableAgvList)) {
return null;
}
+
return null;
}
@@ -110,9 +110,8 @@
log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
continue;
}
- final Agv finalAgv = agv;
- if (!agvService.judgeEnable(finalAgv.getId(), agvDetail -> agvDetail.getVol() > finalAgv.getChargeLine())) {
- log.info(finalAgv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
+ if (!agvService.judgeEnable(agv.getId(), true)) {
+ log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
continue;
}
@@ -157,9 +156,8 @@
log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
return null;
}
- final Agv finalAgv = agv;
- if (!agvService.judgeEnable(finalAgv.getId(), agvDetail -> agvDetail.getVol() > finalAgv.getChargeLine())) {
- log.info(finalAgv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
+ if (!agvService.judgeEnable(agv.getId(), true)) {
+ log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
return null;
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
index 76d8afc..638bd43 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
@@ -1,14 +1,12 @@
package com.zy.acs.manager.manager.service;
import com.baomidou.mybatisplus.extension.service.IService;
-import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.manager.common.domain.BaseParam;
import com.zy.acs.manager.common.domain.PageParam;
import com.zy.acs.manager.common.domain.PageResult;
import com.zy.acs.manager.core.domain.VehicleDto;
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.Agv;
-import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.Task;
import java.util.List;
@@ -29,7 +27,7 @@
Boolean judgeEnable(Long agvId);
- Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support);
+ Boolean judgeEnable(Long agvId, Boolean withBattery);
Boolean judgeOnline(Long agvId);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
index 59e06fd..336317f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -4,7 +4,6 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.enums.AgvStatusType;
-import com.zy.acs.common.utils.JudgeSupport;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.domain.BaseParam;
@@ -67,19 +66,19 @@
@Override
public Boolean judgeEnable(Long agvId) {
- return this.judgeEnable(agvId, null);
+ return this.judgeEnable(agvId, false);
}
@Override
- public Boolean judgeEnable(Long agvId, JudgeSupport<AgvDetail> support) {
+ public Boolean judgeEnable(Long agvId, Boolean withBattery) {
Agv agv = this.getById(agvId);
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
if (segmentService.count(new LambdaQueryWrapper<Segment>()
- .eq(Segment::getAgvId, agvId)
- .and( i -> {
+ .eq(Segment::getAgvId, agvId)
+ .and( i -> {
// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
- i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
- })
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
) > 0) {
log.warn("[{}]鍙稟gv姝ｅ湪蹇欑 -segment......", agv.getUuid());
return false;
@@ -105,17 +104,24 @@
return false;
}
}
- if (support != null) {
- if (!support.execute(agvDetail)) {
- return false;
- }
- }
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
if (agvDetail.getPos() != 1) {
log.warn("[{}]鍙稟gv褰撳墠涓嶅湪瀹氫綅......", agv.getUuid());
return false;
}
}
+ // with battery
+ if (withBattery) {
+ if (agvDetail.getVol() < agv.getChargeLine()) {
+ log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+ return false;
+ }
+ if (agvDetail.getVol() < agvModel.getLowBattery()) {
+ log.warn("[{}]鍙稟gv鐢甸噺涓嶈冻......", agv.getUuid());
+ return false;
+ }
+ }
+
return true;
}
--
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