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:

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