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/MissionAssignService.java | 54 ++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 48 insertions(+), 6 deletions(-)
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 bed8039..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
@@ -15,6 +15,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
@@ -34,6 +35,49 @@
private ConfigService configService;
@Autowired
private TaskService taskService;
+ @Autowired
+ private LaneService laneService;
+
+ /**
+ * get available agv list which is idle
+ */
+ private List<Agv> getAvailableAgv() {
+ List<Agv> result = new ArrayList<>();
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ Collections.shuffle(agvList);
+ for (Agv agv : agvList) {
+
+ // 1. without running tasks
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getAgvId, agv.getId())
+ .and(i ->
+ i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
+ )
+ )) {
+ continue;
+ }
+
+ // 2. in idle status
+ if (!agvService.judgeEnable(agv.getId(), true)) {
+ continue;
+ }
+
+ result.add(agv);
+ }
+
+ return result;
+ }
+
+ public synchronized Agv execute(Task task) {
+ List<Agv> availableAgvList = getAvailableAgv();
+ if (Cools.isEmpty(availableAgvList)) {
+ return null;
+ }
+
+
+ return null;
+ }
public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
String oriLocNo = task.getOriLoc$();
@@ -66,9 +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;
}
@@ -113,9 +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;
}
--
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