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 | 93 +++++++++++++++++++++-------------------------
1 files changed, 42 insertions(+), 51 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 2f8d57d..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
@@ -19,6 +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;
@@ -41,7 +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<>();
@@ -50,7 +51,7 @@
}};
private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
- add("00000246");
+ add("00000146");
}};
@Autowired
@@ -73,6 +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 --------------------------------------------------
@@ -117,7 +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)) {
@@ -125,7 +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));
}
@@ -165,6 +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)
@@ -180,7 +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);
}
}
@@ -196,32 +216,19 @@
* 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<>();
- notInCodeSet.add("00000301");
- notInCodeSet.add("00000302");
- notInCodeSet.add("00000303");
- notInCodeSet.add("00000351");
- notInCodeSet.add("00000353");
- notInCodeSet.add("00000401");
- notInCodeSet.add("00000402");
+ Long agvId = agvDetail.getAgvId();
- notInCodeSet.add("00000311");
- notInCodeSet.add("00000312");
- notInCodeSet.add("00000313");
- notInCodeSet.add("00000361");
- notInCodeSet.add("00000363");
- notInCodeSet.add("00000411");
- notInCodeSet.add("00000412");
+ List<String> codeList = null;
+ if (agvAreaDispatcher.isAgvExistsInAnyArea(agvId)) {
+ codeList = agvAreaDispatcher.getCodesByAgvId(agvId);
+ } else {
+ codeList = ALL_CODE_DATA_CACHE;
+ }
+ Collections.shuffle(codeList);
- notInCodeSet.add("00000046");
- notInCodeSet.add("00000047");
-
- Collections.shuffle(CODE_DATA_CACHE);
-
- for (String endCodeData : CODE_DATA_CACHE) {
+ for (String endCodeData : codeList) {
if (notInCodeSet.contains(endCodeData)) { continue; }
Code endCode = codeService.getCacheByData(endCodeData);
@@ -237,7 +244,7 @@
}
}
- return CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ return codeList.stream().findFirst().orElse(null);
}
// ---------------------------------------------------------------------------
@@ -257,17 +264,17 @@
Runnable patrolTask = () -> {
try {
-// executePatrolLogic(agvNo);
- executeUShapeConveyor(agvNo);
+ 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();
}
@@ -285,28 +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
@@ -320,4 +311,4 @@
}
}
-}
+}
\ No newline at end of file
--
Gitblit v1.9.1