From 5a9828d9466e0ae7d57c255b6c5f4dfe4999ddcc Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 28 十月 2024 15:29:41 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java | 2 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java | 11 +++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 71 ++++++++++++++++++++++-------------
3 files changed, 57 insertions(+), 27 deletions(-)
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 93f3c33..8401b2d 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
@@ -69,7 +69,13 @@
}
/**
- * it can break the limit of the number of agv backpack
+ * 1. 鍒ゆ柇task鐨勮捣濮嬬偣鍜岀洰鐨勭偣鎵�鍦ㄧ殑宸烽亾鎵胯浇浠诲姟鏁伴噺锛�
+ * 濡傛灉鏁伴噺宸茬粡杈惧埌璐熻浇锛屽垯鍒ゆ柇璐熻浇浠诲姟鐨凙GV鏄惁杩樻湁绌鸿儗绡擄紝濡傛灉鏈夊垯浼樺厛娲惧彂缁欏畠锛�
+ * 濡傛灉娌℃湁浜嗭紝閭ｄ箞鍒欓樆濉炰换鍔★紝鐩村埌璇ュ贩閬撻噴鏀�
+ * 2. 杞绌洪棽灏忚溅锛岀洰鏍囨槸璁╂瘡鍙板皬杞﹂兘鍔ㄨ捣鏉�
+ * 鍒ゆ柇閫昏緫锛氳儗绡撴暟閲忔渶灏戠殑灏忚溅杞鐨勬椂鍊欙紝浼樺厛绾ф渶楂�
+ *
+ * it can break the limit of the number of agv backpack
*/
public synchronized Agv execute(Task task) {
List<Agv> availableAgvList = getAvailableAgv();
@@ -93,13 +99,10 @@
if (!Cools.isEmpty(agvNosByOriLane) && agvNosByOriLane.size() >= maxAgvCountInLane) {
availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos);
- availableAgvNosByOriLane = availableAgvNosByOriLane.stream().filter(agvNo -> {
- Agv agv = agvService.selectByUuid(agvNo);
-
- return agv.getStatus() == 1;
- }).collect(Collectors.toList());
}
}
+ // valid backpack limit
+ availableAgvNosByOriLane = this.validBackpackLimit(availableAgvNosByOriLane);
// allocate about destination
@@ -109,13 +112,9 @@
if (!Cools.isEmpty(agvNosByDestLane) && agvNosByDestLane.size() >= maxAgvCountInLane) {
availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
- availableAgvNosByDestLane = availableAgvNosByDestLane.stream().filter(agvNo -> {
- Agv agv = agvService.selectByUuid(agvNo);
-
- return agv.getStatus() == 1;
- }).collect(Collectors.toList());
}
}
+ availableAgvNosByDestLane = this.validBackpackLimit(availableAgvNosByDestLane);
// valid
if (Cools.isEmpty(availableAgvNosByOriLane)) {
@@ -133,29 +132,23 @@
return null;
}
+ // choose min number of running task
actualAvailableAgvNos.sort(new Comparator<String>() {
@Override
- public int compare(String o1, String o2) {
- return 0;
+ public int compare(String agvNo1, String agvNo2) {
+ return calcAllocateWeight(agvNo2, task) - calcAllocateWeight(agvNo1, task);
}
});
- String s = actualAvailableAgvNos.stream().findFirst().orElse(null);
+ if (null != originLane) {
+ task.setOriLaneHash(originLane.getHashCode());
+ }
+ if (null != destinationLane) {
+ task.setDestLaneHash(destinationLane.getHashCode());
+ }
- /**
- * 1. 鍒ゆ柇task鐨勮捣濮嬬偣鍜岀洰鐨勭偣鎵�鍦ㄧ殑宸烽亾鎵胯浇浠诲姟鏁伴噺锛�
- * 濡傛灉鏁伴噺宸茬粡杈惧埌璐熻浇锛屽垯鍒ゆ柇璐熻浇浠诲姟鐨凙GV鏄惁杩樻湁绌鸿儗绡擄紝濡傛灉鏈夊垯浼樺厛娲惧彂缁欏畠锛�
- * 濡傛灉娌℃湁浜嗭紝閭ｄ箞鍒欓樆濉炰换鍔★紝鐩村埌璇ュ贩閬撻噴鏀�
- *
- * 2. 杞绌洪棽灏忚溅锛岀洰鏍囨槸璁╂瘡鍙板皬杞﹂兘鍔ㄨ捣鏉�
- * 鍒ゆ柇閫昏緫锛氳儗绡撴暟閲忔渶灏戠殑灏忚溅杞鐨勬椂鍊欙紝浼樺厛绾ф渶楂�
- */
-
- task.setOriLaneHash(originLane.getHashCode());
- task.setDestLaneHash(destinationLane.getHashCode());
-
- return null;
+ return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
}
private List<String> findAgvNosByLane(Lane lane) {
@@ -171,6 +164,30 @@
}).distinct().collect(Collectors.toList());
}
+ // calculate wight
+ private int calcAllocateWeight(String agvNo, Task task) {
+ int weight = 0;
+ Agv agv = agvService.selectByUuid(agvNo);
+ List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
+ if (!Cools.isEmpty(runningTasks)) {
+ weight = weight + runningTasks.size() * 10;
+ }
+
+ return weight;
+ }
+
+ private List<String> validBackpackLimit(List<String> agvNoList) {
+ if (Cools.isEmpty(agvNoList)) {
+ return new ArrayList<>();
+ }
+ return agvNoList.stream().filter(agvNo -> {
+ Agv agv = agvService.selectByUuid(agvNo);
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
+ List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
+ return runningTasks.size() < agvModel.getBackpack();
+ }).collect(Collectors.toList());
+ }
+
public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
String oriLocNo = task.getOriLoc$();
int oriLocRow = LocUtils.getRow(oriLocNo);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
index b949430..84a32f1 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
@@ -32,4 +32,6 @@
List<Task> findRunningTasksByLaneHash(String laneHash);
+ List<Task> findRunningTasksByAgv(Long agvId);
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
index e626bcd..f37814e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
@@ -175,6 +175,17 @@
);
}
+ @Override
+ public List<Task> findRunningTasksByAgv(Long agvId) {
+ if (null == agvId) {
+ return new ArrayList<>();
+ }
+ LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<Task>().eq(Task::getAgvId, agvId);
+ wrapper.in(Task::getTaskSts, TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val());
+ wrapper.notIn(Task::getTaskType, TaskTypeType.MOVE.val(), TaskTypeType.TO_CHARGE.val(), TaskTypeType.TO_STANDBY.val());
+ return this.list(wrapper);
+ }
+
@Transactional
public void maintainLocSts(Task task, Boolean complete) {
Loc oriLoc = null; Loc destLoc = null;
--
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