From 7f70cb15d035f0c233b9e62b9e43aa985317c908 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:22:45 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 171 ++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 150 insertions(+), 21 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 5e7cbd4..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
@@ -2,21 +2,21 @@
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;
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.stream.Collectors;
/**
* Created by vincent on 8/12/2024
@@ -28,11 +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;
@@ -41,7 +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) {
@@ -67,12 +75,22 @@
return result;
}
+ /**
+ * 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();
if (Cools.isEmpty(availableAgvList)) {
log.warn("No available agv to assign the task[{}]", task.getSeqNum());
return null;
}
+ List<String> availableAgvNos = availableAgvList.stream().map(Agv::getUuid).distinct().collect(Collectors.toList());
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
@@ -80,26 +98,137 @@
Lane originLane = taskService.checkoutOriginLane(task);
Lane destinationLane = taskService.checkoutDestinationLane(task);
+
// allocate about origin
- taskService.findTasksByLaneHash(originLane.getHashCode());
+ List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
+ if (null != originLane) {
+ List<String> agvNosByOriLane = findAgvNosByLane(originLane); // the agv list that had tasks in this lane
+ if (!Cools.isEmpty(agvNosByOriLane) && agvNosByOriLane.size() >= maxAgvCountInLane) {
+
+ availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos);
+ }
+ }
+ // valid backpack limit
+ availableAgvNosByOriLane = this.validBackpackLimit(availableAgvNosByOriLane);
+
// allocate about destination
- taskService.findTasksByLaneHash(destinationLane.getHashCode());
+ List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos);
+ if (null != destinationLane) {
+ List<String> agvNosByDestLane = findAgvNosByLane(destinationLane);
+ if (!Cools.isEmpty(agvNosByDestLane) && agvNosByDestLane.size() >= maxAgvCountInLane) {
- /**
- * 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�
- */
+ availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
+ }
+ }
+ availableAgvNosByDestLane = this.validBackpackLimit(availableAgvNosByDestLane);
+
+ // valid
+ if (Cools.isEmpty(availableAgvNosByOriLane)) {
+ log.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
+ return null;
+ }
+ if (Cools.isEmpty(availableAgvNosByDestLane)) {
+ log.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
+ return null;
+ }
+
+ List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
+ if (Cools.isEmpty(actualAvailableAgvNos)) {
+ log.warn("No available agv to assign the task[{}]", task.getSeqNum());
+ 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);
+ }
+ });
- task.setOriLaneHash(originLane.getHashCode());
- task.setDestLaneHash(destinationLane.getHashCode());
+ if (null != originLane) {
+ task.setOriLaneHash(originLane.getHashCode());
+ }
+ if (null != destinationLane) {
+ task.setDestLaneHash(destinationLane.getHashCode());
+ }
- return null;
+ return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
+ }
+
+ private List<String> findAgvNosByLane(Lane lane) {
+ if (null == lane) {
+ return null;
+ }
+ List<Task> taskList = taskService.findRunningTasksByLaneHash(lane.getHashCode());
+ if (Cools.isEmpty(taskList)) {
+ return null;
+ }
+ return taskList.stream().map(task -> {
+ return agvService.getById(task.getAgvId()).getUuid();
+ }).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) {
@@ -110,7 +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());
--
Gitblit v1.9.1