From 6e28ed413a6adfa60000c092aae2464ab2e43fd4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期三, 31 十二月 2025 10:11:33 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 4
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaServiceImpl.java | 12 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/FilterLaneDto.java | 23 +++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/AgvCntDto.java | 37 ++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 269 +++++++++++++++++++++++++++++++++++++-------
version/doc/RCS输送线逻辑梳理.xmind | 0
8 files changed, 306 insertions(+), 45 deletions(-)
diff --git "a/version/doc/RCS\350\276\223\351\200\201\347\272\277\351\200\273\350\276\221\346\242\263\347\220\206.xmind" "b/version/doc/RCS\350\276\223\351\200\201\347\272\277\351\200\273\350\276\221\346\242\263\347\220\206.xmind"
index 97added..095e2bd 100644
--- "a/version/doc/RCS\350\276\223\351\200\201\347\272\277\351\200\273\350\276\221\346\242\263\347\220\206.xmind"
+++ "b/version/doc/RCS\350\276\223\351\200\201\347\272\277\351\200\273\350\276\221\346\242\263\347\220\206.xmind"
Binary files differ
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/AgvCntDto.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/AgvCntDto.java
new file mode 100644
index 0000000..1825b97
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/AgvCntDto.java
@@ -0,0 +1,37 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class AgvCntDto {
+
+ private Long agvId;
+
+ private Integer count;
+
+ public AgvCntDto(Long agvId) {
+ this.agvId = agvId;
+ this.count = 1;
+ }
+
+ public static boolean has(List<AgvCntDto> list, AgvCntDto dto) {
+ for (AgvCntDto cntDto : list) {
+ if (cntDto.getAgvId().equals(dto.getAgvId())) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ public static AgvCntDto find(List<AgvCntDto> list, AgvCntDto dto) {
+ for (AgvCntDto cntDto : list) {
+ if (cntDto.getAgvId().equals(dto.getAgvId())) {
+ return cntDto;
+ }
+ }
+ return null;
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/FilterLaneDto.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/FilterLaneDto.java
new file mode 100644
index 0000000..3e2aecb
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/FilterLaneDto.java
@@ -0,0 +1,23 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+public class FilterLaneDto {
+
+ private Lane originLane;
+
+ private Lane destinationLane;
+
+ private List<String> actualAvailableAgvNos = new ArrayList<>();
+
+ public FilterLaneDto(Lane originLane, Lane destinationLane, List<String> actualAvailableAgvNos) {
+ this.originLane = originLane;
+ this.destinationLane = destinationLane;
+ this.actualAvailableAgvNos = actualAvailableAgvNos;
+ }
+
+}
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 e053b75..88ab574 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
@@ -3,9 +3,12 @@
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.core.domain.AgvCntDto;
import com.zy.acs.manager.core.domain.Lane;
+import com.zy.acs.manager.core.domain.FilterLaneDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.StaTypeType;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
@@ -24,6 +27,8 @@
@Slf4j
@Service
public class AllocateService {
+
+ public static final Integer OUTBOUND_TASKS_ALLOCATE_LIMIT = 5;
@Autowired
private AgvService agvService;
@@ -45,40 +50,31 @@
private LaneService laneService;
@Autowired
private AgvAreaDispatcher agvAreaDispatcher;
+ @Autowired
+ private SegmentService segmentService;
/**
* get available agv list which is idle
*/
- private List<String> getAvailableAgvNos(List<Long> agvIds) {
-// List<Agv> agvList = new ArrayList<>();
-// if (Cools.isEmpty(agvNos)) {
-// // global
-// agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
-// } else {
-// // local
-// for (String agvNo : agvNos) {
-// Agv agv = agvService.selectByUuid(agvNo);
-// if (agv.getStatusBool()) {
-// agvList.add(agv);
-// }
-// }
-// }
-
+ private List<String> getAvailableAgvNos(List<Long> agvIds, boolean hasRunning) {
List<Agv> agvList = Cools.isEmpty(agvIds)
? agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val))
: agvIds.stream().map(agvService::getById).filter(Agv::getStatusBool).collect(Collectors.toList());
List<String> result = new ArrayList<>();
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;
+ if (!hasRunning) {
+ // 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)) {
@@ -89,11 +85,42 @@
}
if (!Cools.isEmpty(result)) {
- // todo: 杞鏉冮噸
Collections.shuffle(result);
}
return result;
+ }
+
+ public synchronized Agv execute(Task task) {
+ Sta rollerOriSta = getInboundRollerSta(task);
+ if (rollerOriSta != null) {
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
+ FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
+ if (null != filterLaneDto) {
+ String agvNo = this.checkoutAgvForInboundRoller(task, rollerOriSta, filterLaneDto.getActualAvailableAgvNos());
+ if (!Cools.isEmpty(agvNo)) {
+ task.setOriLaneHash(filterLaneDto.getOriginLane().getHashCode());
+ task.setDestLaneHash(filterLaneDto.getDestinationLane().getHashCode());
+ return agvService.selectByUuid(agvNo);
+ }
+ }
+ }
+
+ Sta rollerDestSta = getOutboundRollerSta(task);
+ if (rollerDestSta != null) {
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
+ FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
+ if (null != filterLaneDto) {
+ String agvNo = this.checkoutAgvForOutboundRoller(task, rollerDestSta, filterLaneDto.getActualAvailableAgvNos());
+ if (!Cools.isEmpty(agvNo)) {
+ task.setOriLaneHash(filterLaneDto.getOriginLane().getHashCode());
+ task.setDestLaneHash(filterLaneDto.getDestinationLane().getHashCode());
+ return agvService.selectByUuid(agvNo);
+ }
+ }
+ }
+
+ return this.normalExecute(task);
}
/**
@@ -105,13 +132,135 @@
*
* it can break the limit of the number of agv backpack
*/
- public synchronized Agv execute(Task task) {
- List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task));
+ public synchronized Agv normalExecute(Task task) {
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), false);
// List<String> availableAgvNos = this.getAvailableAgvNos(null);
if (Cools.isEmpty(availableAgvNos)) {
// log.warn("No available agv to assign the task[{}]", task.getSeqNum());
return null;
}
+
+ // calc lane
+ FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
+ if (null == filterLaneDto) {
+ return null;
+ }
+ Lane originLane = filterLaneDto.getOriginLane();
+ Lane destinationLane = filterLaneDto.getDestinationLane();
+ List<String> actualAvailableAgvNos = filterLaneDto.getActualAvailableAgvNos();
+
+ // choose min number of running task
+ actualAvailableAgvNos.sort(new Comparator<String>() {
+ @Override
+ public int compare(String agvNo1, String agvNo2) {
+ return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
+ }
+ });
+
+ if (null != originLane) {
+ task.setOriLaneHash(originLane.getHashCode());
+ }
+ if (null != destinationLane) {
+ task.setDestLaneHash(destinationLane.getHashCode());
+ }
+
+ return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
+ }
+
+ private String checkoutAgvForInboundRoller(Task task, Sta sta, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task, sta)) {
+ return null;
+ }
+
+ for (String agvNo : availableAgvNos) {
+ Long agvId = agvService.getAgvId(agvNo);
+ Code currentCode = agvDetailService.getCurrentCode(agvId);
+ if (null == currentCode) {
+ continue;
+ }
+
+ // only checkout the agv which at sta code position
+ if (!sta.getCode().equals(currentCode.getId())) {
+ continue;
+ }
+
+ // has running task and within oriSta
+// List<Segment> currSeg = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
+ int taskCnt = taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getAgvId, agvId)
+ .eq(Task::getOriSta, sta.getId())
+ .and(wrapper -> wrapper
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
+ )
+ );
+ if (taskCnt == 0) {
+ break;
+ }
+
+ // has enough backpack space to load
+ Integer backpack = agvService.getBackpack(agvId);
+ int countRemainingBackpack = segmentService.countRemainingBackpack(null, agvId);
+ if (countRemainingBackpack >= backpack) {
+ break;
+ }
+
+ return agvNo;
+ }
+
+ return null;
+ }
+
+ private String checkoutAgvForOutboundRoller(Task task, Sta sta, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task, sta)) {
+ return null;
+ }
+
+ List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getDestSta, sta.getId())
+ .eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .isNotNull(Task::getAgvId)
+ );
+ if (Cools.isEmpty(taskList)) {
+ return null;
+ }
+
+ List<AgvCntDto> cntDtoList = new ArrayList<>();
+ for (Task t : taskList) {
+ AgvCntDto cntDto = new AgvCntDto(t.getAgvId());
+ if (AgvCntDto.has(cntDtoList, cntDto)) {
+ AgvCntDto dto = AgvCntDto.find(cntDtoList, cntDto);
+ assert null != dto;
+ dto.setCount(dto.getCount() + 1);
+ } else {
+ cntDtoList.add(cntDto);
+ }
+ }
+
+ cntDtoList.sort(new Comparator<AgvCntDto>() {
+ @Override
+ public int compare(AgvCntDto o1, AgvCntDto o2) {
+ return o1.getCount() - o2.getCount();
+ }
+ });
+
+ for (AgvCntDto cntDto : cntDtoList) {
+
+ if (cntDto.getAgvId() >= OUTBOUND_TASKS_ALLOCATE_LIMIT) {
+ continue;
+ }
+ return agvService.getAgvNo(cntDto.getAgvId());
+ }
+
+ return null;
+ }
+
+ public FilterLaneDto filterThroughLane(Task task, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task)) {
+ return null;
+ }
+
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
// checkout lane
@@ -158,23 +307,7 @@
return null;
}
- // choose min number of running task
- actualAvailableAgvNos.sort(new Comparator<String>() {
- @Override
- public int compare(String agvNo1, String agvNo2) {
- return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
- }
- });
-
-
- if (null != originLane) {
- task.setOriLaneHash(originLane.getHashCode());
- }
- if (null != destinationLane) {
- task.setDestLaneHash(destinationLane.getHashCode());
- }
-
- return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
+ return new FilterLaneDto(originLane, destinationLane, actualAvailableAgvNos);
}
public List<String> findAgvNosByLane(Lane lane) {
@@ -314,4 +447,52 @@
return theLastOne.get(theLastOne.size() - 1).getXy();
}
+
+
+ // about roller --------------------------------------------
+
+ private Sta getInboundRollerSta(Task task) {
+ TaskTypeType type = TaskTypeType.get(task.getTaskTypeEl());
+ switch (Objects.requireNonNull(type)) {
+ case STA_TO_LOC:
+ case STA_TO_STA:
+ Long oriStaId = task.getOriSta();
+ if (null == oriStaId) {
+ return null;
+ }
+ Sta oriSta = staService.getById(oriStaId);
+ if (oriSta == null || Cools.isEmpty(oriSta.getStaType())) {
+ return null;
+ }
+ if (StaTypeType.ROLLER.val() != oriSta.getStaType()) {
+ return null;
+ }
+ return oriSta;
+ default:
+ return null;
+ }
+ }
+
+ private Sta getOutboundRollerSta(Task task) {
+ TaskTypeType type = TaskTypeType.get(task.getTaskTypeEl());
+ switch (Objects.requireNonNull(type)) {
+ case LOC_TO_STA:
+ case STA_TO_STA:
+ Long destStaId = task.getDestSta();
+ if (null == destStaId) {
+ return null;
+ }
+ Sta destSta = staService.getById(destStaId);
+ if (destSta == null || Cools.isEmpty(destSta.getStaType())) {
+ return null;
+ }
+ if (StaTypeType.ROLLER.val() != destSta.getStaType()) {
+ return null;
+ }
+ return destSta;
+ default:
+ return null;
+ }
+ }
+
}
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 de18b2a..10ff983 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
@@ -247,7 +247,9 @@
List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
for (Task task : taskList) {
- Agv agv = allocateService.execute(task);
+ Agv agv = allocateService.execute(task, () => {
+
+ });
if (null == agv) {
// log.warn("Task[{}] has an issue锛� because it failed to check out agv which is idle...", task.getSeqNum());
continue;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 7dc6ff4..02e8e03 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -700,6 +700,10 @@
if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
continue;
}
+ // 褰撳墠vehicle姝ｅ湪杩涜婊氱瓛杈撻�佺嚎绛夊緟
+ if () {
+ continue;
+ }
return blockVehicleDto.getVehicle();
}
return null;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaService.java
index 2909cf1..4a41e17 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/StaService.java
@@ -16,4 +16,6 @@
List<Sta> queryAvailableInSta(Integer minAvailableQty);
+ boolean isRoller(Long staId);
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaServiceImpl.java
index 498c718..e0e9afe 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/StaServiceImpl.java
@@ -41,4 +41,16 @@
return this.baseMapper.selectAvailableInSta(minAvailableQty);
}
+ @Override
+ public boolean isRoller(Long staId) {
+ if (staId == null) {
+ return false;
+ }
+ Sta sta = this.getById(staId);
+ if (sta == null || Cools.isEmpty(sta.getStaType())) {
+ return false;
+ }
+ return StaTypeType.ROLLER.val() == sta.getStaType();
+ }
+
}
--
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