From 6324d391d2b0aa5b96128f5e07a612ec7ebf8c20 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 11 十一月 2024 10:35:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 130 +++++++++++++++++++++++++++++++-----------
1 files changed, 95 insertions(+), 35 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..f63a66e 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
@@ -2,15 +2,14 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.common.utils.LocUtils;
import com.zy.acs.manager.core.domain.Lane;
-import com.zy.acs.manager.manager.entity.Agv;
-import com.zy.acs.manager.manager.entity.AgvModel;
-import com.zy.acs.manager.manager.entity.Task;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.service.AgvModelService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.TaskService;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
+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;
@@ -29,11 +28,19 @@
@Autowired
private AgvService agvService;
@Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
private AgvModelService agvModelService;
@Autowired
private ConfigService configService;
@Autowired
private TaskService taskService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private StaService staService;
+ @Autowired
+ private LocService locService;
@Autowired
private LaneService laneService;
@@ -42,7 +49,7 @@
*/
private List<Agv> getAvailableAgv() {
List<Agv> result = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
@@ -69,7 +76,13 @@
}
/**
- * 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 +106,10 @@
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 +119,9 @@
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 +139,23 @@
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(agvNo1, task) - calcAllocateWeight(agvNo2, 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 +171,66 @@
}).distinct().collect(Collectors.toList());
}
+ 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());
+ }
+
+ // calculate wight = backpack + distance
+ private int calcAllocateWeight(String agvNo, Task task) {
+ int weight = 0;
+ Agv agv = agvService.selectByUuid(agvNo);
+
+ // backpack
+ List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
+ if (!Cools.isEmpty(runningTasks)) {
+ weight = weight + runningTasks.size() * 100000;
+ }
+
+ // distance
+ // from
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ Code agvCurrCode = codeService.getById(agvDetail.getRecentCode());
+ Double[] fromPosition = new Double[]{agvCurrCode.getX(), agvCurrCode.getY()};
+ // to
+ Code firstCode = null;
+ TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl());
+ switch (Objects.requireNonNull(typeType)) {
+ case LOC_TO_LOC:
+ case LOC_TO_STA:
+ Loc oriLoc = locService.getById(task.getOriLoc());
+ firstCode = codeService.getById(oriLoc.getCode());
+ break;
+ case STA_TO_LOC:
+ case STA_TO_STA:
+ Sta oriSta = staService.getById(task.getOriSta());
+ firstCode = codeService.getById(oriSta.getCode());
+ break;
+ case TO_CHARGE:
+ case TO_STANDBY:
+ case MOVE:
+ firstCode = codeService.getById(task.getDestCode());
+ break;
+ default:
+ firstCode = codeService.getById(task.getDestCode());
+ break;
+ }
+ assert null != firstCode;
+ Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
+ // calculate distance
+ weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);
+
+ // return opposite
+ return -weight;
+ }
+
public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
String oriLocNo = task.getOriLoc$();
int oriLocRow = LocUtils.getRow(oriLocNo);
@@ -179,7 +239,7 @@
Agv hit = null;
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
--
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