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/MainService.java | 184 ++++++++++++++++++++++++++++++++--------------
1 files changed, 128 insertions(+), 56 deletions(-)
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 21feeaa..ba7f2b2 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
@@ -18,6 +18,7 @@
import com.zy.acs.common.utils.Utils;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.common.exception.BusinessException;
+import com.zy.acs.manager.common.utils.CommonUtil;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -67,6 +68,8 @@
@Autowired
private ValidService validService;
@Autowired
+ private AllocateService allocateService;
+ @Autowired
private CodeService codeService;
@Autowired
private MapService mapService;
@@ -88,8 +91,7 @@
private TrafficService trafficService;
@Autowired
private AgvModelService agvModelService;
- @Autowired
- private MissionAssignService missionAssignService;
+
@SuppressWarnings("all")
@Transactional
@@ -108,7 +110,7 @@
taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
// 鏍￠獙
- List<Task> taskList = validService.validBusDto(taskDtoList);
+ List<Task> taskList = validService.validTaskDtoList(taskDtoList);
// 淇濆瓨鎬荤嚎
Date now = new Date();
@@ -194,7 +196,7 @@
* 浠诲姟鍒嗛厤缁欒溅杈� ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
*/
@Transactional
- public synchronized void infuseAgvForTask(Bus bus) {
+ public synchronized void allocateTask(Bus bus) {
try {
Date now = new Date();
List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -211,17 +213,14 @@
}
return;
}
- List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
- Map<String, List<Long>> taskAllot = new HashMap<>();
+ List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
for (Task task : taskList) {
- Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
+ Agv agv = allocateService.execute(task);
if (null == agv) {
log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
continue;
}
-
-
task.setAgvId(agv.getId());
task.setTaskSts(TaskStsType.WAITING.val());
task.setIoTime(now);
@@ -229,17 +228,35 @@
if (!taskService.updateById(task)) {
throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
}
-
- if (taskAllot.containsKey(agv.getUuid())) {
- taskAllot.get(agv.getUuid()).add(task.getId());
- } else {
- taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
- }
}
-// bus.setUpdateTime(now);
-// if (!busService.updateById(bus)) {
-// throw new BusinessException(bus.getSeqNum() + "鎬荤嚎鏇存柊澶辫触");
+
+ // ------------------------------------------
+
+
+//
+// Map<String, List<Long>> taskAllot = new HashMap<>();
+// for (Task task : taskList) {
+// Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
+// if (null == agv) {
+// log.warn("Task[{}] has an issue锛� because it failed to checkout agv which is idle...", task.getSeqNum());
+// continue;
+// }
+//
+//
+// task.setAgvId(agv.getId());
+// task.setTaskSts(TaskStsType.WAITING.val());
+// task.setIoTime(now);
+// task.setUpdateTime(now);
+// if (!taskService.updateById(task)) {
+// throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
+// }
+//
+// if (taskAllot.containsKey(agv.getUuid())) {
+// taskAllot.get(agv.getUuid()).add(task.getId());
+// } else {
+// taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
+// }
// }
} catch (Exception e) {
log.error("mainService.infuseAgvForTask", e);
@@ -251,38 +268,30 @@
* 瑙ｆ瀽鍙栨斁璐ч泦鍚堜换鍔�,杩涜鏈�浼樼殑鎺掑垪缁勫悎椤哄簭 ( 杞﹁締姝ゆ椂鏄┖闂蹭笖闈欐鐨� )
*/
@Transactional
- public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
+ public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
if (Cools.isEmpty(taskList)) { return; }
boolean lockAcquired = false;
try {
if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
}
- Date now = new Date();
- final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
+ // valid -----------------------------------------------
Agv agv = agvService.getById(agvId);
- if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
+ if (!agvService.judgeEnable(agv.getId(), true)) {
throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅彲鐢�...");
}
-
if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
throw new CoolException("AGV[" + agv.getUuid() + "]鍒嗛厤浠诲姟澶辫触锛屽凡瀛樺湪鎵ц浠诲姟...");
}
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
- }
-
+ // execute ----------------------------------------------------
+ Date now = new Date();
// sort and sub
taskList.sort(new Comparator<Task>() {
@Override
public int compare(Task o1, Task o2) {
- return 0;
+ return o2.getPriority() - o1.getPriority();
}
});
Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +299,18 @@
taskList = taskList.subList(0, backpack);
}
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+
/**
- * single agvId
+ * 鍚屽贩閬撳綊绫�
+ * same lane for every single agvId
*
- * key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
+ * key: y(val) + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
*/
Map<String, List<TaskPosDto>> groups = new HashMap<>();
-
- List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
+ final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);
int backpackLev = 0;
for (Task task : taskList) {
@@ -362,7 +374,31 @@
}
/**
- * List<TaskPosDto>: task list on the same channel
+ * 1.Map<String, List<TaskPosDto>> groups
+ *
+ * key: 1000 + ORI_LOC
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 3000 + ORI_LOC
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + ORI_LOC
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * ......
+ *
+ * 2.ArrayList<List<TaskPosDto>> list
+ * [
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
+ * ......
+ * ]
+ */
+
+ /**
+ * 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
+ * List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
@@ -371,9 +407,53 @@
double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
return (int) (o1CompVal - o2CompVal);
});
-
+ // 閽堝Dto锛屾寜鐓econdWeight杩涜鎺掑簭
for (List<TaskPosDto> taskPosDtoList : list) {
taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
+ }
+
+ // re-order by agv current position
+ Code currCode = codeService.getById(agvDetail.getRecentCode());
+ Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+
+ List<TaskPosDto> theFirstOne = list.get(0);
+ List<TaskPosDto> theLastOne = list.get(list.size() - 1);
+
+ if (list.size() == 1) {
+ TaskPosDto head = theFirstOne.get(0);
+ TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
+
+ int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
+ int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
+
+ if (distanceByTail < distanceByHead) {
+ Collections.reverse(theFirstOne);
+ }
+
+ } else {
+ TaskPosDto headOfFirst = theFirstOne.get(0);
+ TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
+
+ TaskPosDto headOfLast = theLastOne.get(0);
+ TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
+
+ int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
+ int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
+
+ int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
+ int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
+
+ if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
+ Collections.reverse(list);
+
+ if (distanceByTailOfLast < distanceByHeadOfLast) {
+ Collections.reverse(theLastOne);
+ }
+ } else {
+ if (distanceByTailOfFirst < distanceByHeadOfFirst) {
+ Collections.reverse(theFirstOne);
+ }
+ }
}
// generate travel
@@ -465,15 +545,13 @@
switch (taskType) {
case TO_CHARGE:
case TO_STANDBY:
- List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
- .eq(FuncSta::getAgvId, agv.getId())
- .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
- .eq(FuncSta::getStatus, StatusType.ENABLE.val)
- );
- if (!Cools.isEmpty(funcStaList)) {
- FuncSta funcSta = funcStaList.get(0);
+ List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
+ if (!Cools.isEmpty(idleFunStaList)) {
+ FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
endCode = codeService.getById(funcSta.getCode());
+ }
+ if (null == endCode) {
+ log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
}
break;
case MOVE:
@@ -484,7 +562,6 @@
}
if (null == endCode) {
- log.error("{}鍙疯溅杈嗗缓绔嬪姛鑳戒换鍔″け璐ワ紝鏃犳硶妫�绱㈠埌鐩爣瀹氫綅锛孴askTypeType锛歿}", agv.getUuid(), taskType.toString());
return false;
}
@@ -501,7 +578,7 @@
task.setIoTime(now);
task.setStartTime(now);
if (!taskService.save(task)) {
- throw new BusinessException(task.getSeqNum() + "浠诲姟淇濆瓨澶辫触");
+ throw new BusinessException(task.getSeqNum() + " failed to save");
}
// generate travel
@@ -513,7 +590,7 @@
travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
travel.setState(TravelStateType.RUNNING.toString());
if (!travelService.save(travel)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("travel failed to save");
}
// generate segment
@@ -552,7 +629,7 @@
next.setState(SegmentStateType.WAITING.toString());
}
if (!segmentService.save(next)) {
- throw new BusinessException("浠诲姟缁勪繚瀛樺け璐�");
+ throw new BusinessException("segment failed to save");
}
}
@@ -564,7 +641,7 @@
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
destFuncSta.setUpdateTime(now);
if (!funcStaService.updateById(destFuncSta)) {
- log.error("FuncSta [{}] 鏇存柊鐘舵�佸け璐� 锛侊紒锛�", destFuncSta.getName());
+ log.error("FuncSta [{}] failed to update 锛侊紒锛�", destFuncSta.getName());
}
break;
case MOVE:
@@ -608,11 +685,6 @@
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
assert agvDetail != null;
- if (agvDetail.getPos() == 0) {
- if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- throw new CoolException("AGV[" + agv.getUuid() + "]褰撳墠涓嶅湪瀹氫綅...");
- }
- }
List<Action> actionList = new ArrayList<>();
// start node
--
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