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 | 85 ++++++++++++++++++++++++++++++++----------
1 files changed, 64 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 8401b2d..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) {
@@ -136,7 +143,7 @@
actualAvailableAgvNos.sort(new Comparator<String>() {
@Override
public int compare(String agvNo1, String agvNo2) {
- return calcAllocateWeight(agvNo2, task) - calcAllocateWeight(agvNo1, task);
+ return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
}
});
@@ -164,18 +171,6 @@
}).distinct().collect(Collectors.toList());
}
- // calculate wight
- private int calcAllocateWeight(String agvNo, Task task) {
- int weight = 0;
- Agv agv = agvService.selectByUuid(agvNo);
- List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
- if (!Cools.isEmpty(runningTasks)) {
- weight = weight + runningTasks.size() * 10;
- }
-
- return weight;
- }
-
private List<String> validBackpackLimit(List<String> agvNoList) {
if (Cools.isEmpty(agvNoList)) {
return new ArrayList<>();
@@ -188,6 +183,54 @@
}).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);
@@ -196,7 +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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