From 70930071a49190f414c8d8bc9c9e9795a4096739 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期一, 23 三月 2026 16:08:27 +0800
Subject: [PATCH] Merge branch 'refs/heads/rcs_master' into jdxaj
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 68 +++++++++++++++++++---------------
1 files changed, 38 insertions(+), 30 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 3bb25ad..a3fab57 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -4,7 +4,6 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
-import com.zy.acs.manager.common.constant.AgvAreaDispatcher;
import com.zy.acs.manager.core.cache.CoreCache;
import com.zy.acs.manager.core.domain.CodeStepDto;
import com.zy.acs.manager.core.domain.type.JobType;
@@ -20,6 +19,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import com.zy.acs.common.utils.News;
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
@@ -42,7 +42,7 @@
private ScheduledExecutorService scheduler = null;
- private List<String> CODE_DATA_CACHE = new ArrayList<>();
+ private List<String> ALL_CODE_DATA_CACHE = new ArrayList<>();
private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
@@ -74,6 +74,24 @@
private ConfigService configService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
+
+ @PostConstruct
+ public void init() {
+ int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ if (count > 0) {
+ this.scheduler = Executors.newScheduledThreadPool(count);
+ }
+ // init all code data
+ List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
+ this.ALL_CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ // int all loc code data
+ List<Code> locCodeList = codeService.getAllLocCode();
+ this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ }
// pick & drop logic --------------------------------------------------
@@ -118,7 +136,7 @@
}
break;
default:
- log.warn("AGV {}: 鏈煡闃舵: {}", agvNo, jobType);
+ News.warn("AGV {}: 鏈煡闃舵: {}", agvNo, jobType);
break;
}
if (Cools.isEmpty(destinationCodeData)) {
@@ -126,7 +144,7 @@
}
if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
- log.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
+ News.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
}
@@ -166,6 +184,7 @@
}
private void patrolOfMove(String agvNo) {
+ if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
Long agvId = agvService.getAgvId(agvNo);
if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
.eq(Travel::getAgvId, agvId)
@@ -181,7 +200,7 @@
return;
}
if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
- log.info( "{}寮�濮嬭蛋琛屾紨绀�...", agvNo);
+ News.info( "AGV[{}] 寮�鍚嚜鍔ㄥ贰閫�...", agvNo);
}
}
@@ -197,15 +216,20 @@
* agv鍦板浘鍥炬爣鍙樺寲
*/
public String getDestinationCode(String agvNo, AgvDetail agvDetail) {
-
Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Set<String> notInCodeSet = new HashSet<>();
+ Long agvId = agvDetail.getAgvId();
- List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
- List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
+ List<String> codeList = null;
+ if (agvAreaDispatcher.isAgvExistsInAnyArea(agvId)) {
+ codeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ } else {
+ codeList = ALL_CODE_DATA_CACHE;
+ }
Collections.shuffle(codeList);
for (String endCodeData : codeList) {
- if (disableCodeList.contains(endCodeData)) { continue; }
+ if (notInCodeSet.contains(endCodeData)) { continue; }
Code endCode = codeService.getCacheByData(endCodeData);
// valid lane
@@ -243,14 +267,14 @@
executePatrolLogic(agvNo);
// executeUShapeConveyor(agvNo);
} catch (Exception e) {
- log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: {}", agvNo, e.getMessage());
+ News.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�", agvNo, e);
}
};
ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
AGV_PATROL_MAP.put(agvNo, scheduledFuture);
- log.info("宸插惎鍔ˋGV{}鐨勮窇搴撲换鍔°��", agvNo);
+ News.info("宸插惎鍔ˋGV{}鐨勮窇搴撲换鍔°��", agvNo);
return R.ok();
}
@@ -268,28 +292,12 @@
CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
- log.info("宸插仠姝GV {} 鐨勮窇搴撲换鍔°��", agvNo);
+ News.info("宸插仠姝GV {} 鐨勮窇搴撲换鍔°��", agvNo);
return R.ok("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
} else {
- log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
+ News.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
return R.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
}
- }
-
- @PostConstruct
- public void init() {
- int count = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- if (count > 0) {
- this.scheduler = Executors.newScheduledThreadPool(count);
- }
- // init all code data
- List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
- this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
- // int all loc code data
- List<Code> locCodeList = codeService.getAllLocCode();
- this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
-
}
@PreDestroy
@@ -303,4 +311,4 @@
}
}
-}
+}
\ No newline at end of file
--
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