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 | 133 +++++++++++++++++++++++++++++-------------- 1 files changed, 89 insertions(+), 44 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 9b3a1d8..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>() @@ -212,8 +214,9 @@ return; } + List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList()); for (Task task : taskList) { - Agv agv = missionAssignService.execute(task); + 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; @@ -230,31 +233,31 @@ // ------------------------------------------ - List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList()); - 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())); - } - } +// +// 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); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); @@ -275,7 +278,7 @@ // 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))) { @@ -288,7 +291,7 @@ taskList.sort(new Comparator<Task>() { @Override public int compare(Task o1, Task o2) { - return o1.getPriority() - o2.getPriority(); + return o2.getPriority() - o1.getPriority(); } }); Integer backpack = agvService.getBackpack(agv); @@ -296,6 +299,7 @@ taskList = taskList.subList(0, backpack); } + AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId); List<AgvBackpackDto> backpackDtoList = new ArrayList<>(); /** @@ -408,6 +412,50 @@ 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 Travel travel = new Travel(); travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); @@ -497,15 +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: @@ -516,7 +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; } @@ -533,7 +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 @@ -545,7 +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 @@ -584,7 +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"); } } @@ -596,7 +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: -- Gitblit v1.9.1