From b0855265d373b2dd46e34815e90887fb89d89b54 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 20 一月 2025 14:32:46 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeServiceImpl.java | 11 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/CodeService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/cache/CoreCache.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 171 +++++++++++++++++++++++++++++++++++++++++-
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/CodeMapper.java | 3
zy-acs-manager/src/main/resources/mapper/manager/CodeMapper.xml | 4 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 4
7 files changed, 188 insertions(+), 9 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/cache/CoreCache.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/cache/CoreCache.java
index ed1a31b..cfff1ae 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/cache/CoreCache.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/cache/CoreCache.java
@@ -5,6 +5,6 @@
public class CoreCache {
- public static final Map<Long, Integer> AGV_BACKPACK_CACHE = new ConcurrentHashMap<>();
+ public static final Map<Long, Integer> AGV_BACKPACK_USED_CACHE = new ConcurrentHashMap<>();
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index b0497c5..a3c29b9 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -4,9 +4,9 @@
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.R;
+import com.zy.acs.manager.core.cache.CoreCache;
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.enums.TaskTypeType;
import com.zy.acs.manager.manager.enums.TravelStateType;
import com.zy.acs.manager.manager.service.*;
@@ -38,6 +38,25 @@
private List<String> CODE_DATA_CACHE = new ArrayList<>();
+ private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
+
+ private List<String> CONVEYOR_DROP_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000048");
+ }};
+
+ private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000246");
+ }};
+
+ private Map<String, JobType> agvJobMap = new ConcurrentHashMap<>();
+ public enum JobType {
+ CONVEYOR_PICK,
+ CONVEYOR_DROP,
+ LOC_PICK,
+ LOCK_DROP,
+ ;
+ }
+
@Autowired
private AgvService agvService;
@Autowired
@@ -56,6 +75,137 @@
private AllocateService allocateService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private AgvModelService agvModelService;
+
+ // pick & drop logic --------------------------------------------------
+
+ private void executeUShapeConveyor(String agvNo) {
+ Long agvId = agvService.getAgvId(agvNo);
+ if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
+ .eq(Travel::getAgvId, agvId)
+ .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
+ return;
+ }
+ if (!agvService.judgeEnable(agvId)) {
+ return;
+ }
+
+// // 宸蹭娇鐢ㄨ儗绡撴暟閲�
+// Integer usedSlots = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+// if (null == usedSlots) {
+// return;
+// }
+// AgvModel agvModel = agvModelService.getByAgvId(agvId);
+// // 鑳岀瘬绌洪棽鏁�
+// int remainingBackpack = Math.max(agvModel.getBackpack() - usedSlots, 0);
+
+
+ String destinationCodeData = null;
+
+ JobType jobType = this.agvJobMap.get(agvNo);
+ if (null == jobType) {
+ this.agvJobMap.put(agvNo, JobType.LOC_PICK);
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
+ jobType = JobType.LOC_PICK;
+ }
+ switch (jobType) {
+ case LOC_PICK:
+ int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (0 < locPickRemaining) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ case CONVEYOR_DROP:
+ destinationCodeData = this.getConveyorDropCode(agvNo);
+ break;
+ case CONVEYOR_PICK:
+ destinationCodeData = this.getConveyorPickCode(agvNo);
+ break;
+ case LOCK_DROP:
+ int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (0 < locDropRemaining) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ default:
+ log.warn("AGV {}: 鏈煡闃舵: {}", agvNo, jobType);
+ break;
+ }
+
+ if (Cools.isEmpty(destinationCodeData)) {
+ return;
+ }
+
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
+
+ switch (jobType) {
+ case LOC_PICK:
+ Integer usedSlotsByLocPick = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ usedSlotsByLocPick++;
+
+ if (Objects.equals(agvModelService.getByAgvId(agvId).getBackpack(), usedSlotsByLocPick)) {
+ this.agvJobMap.put(agvNo, JobType.CONVEYOR_DROP);
+ } else {
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, usedSlotsByLocPick);
+ }
+ break;
+ case CONVEYOR_DROP:
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
+
+ this.agvJobMap.put(agvNo, JobType.CONVEYOR_PICK);
+ break;
+ case CONVEYOR_PICK:
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, agvModelService.getByAgvId(agvId).getBackpack());
+
+ this.agvJobMap.put(agvNo, JobType.LOCK_DROP);
+ break;
+ case LOCK_DROP:
+ Integer usedSlotsByLocDrop = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ usedSlotsByLocDrop--;
+
+ if (usedSlotsByLocDrop == 0) {
+ this.agvJobMap.put(agvNo, JobType.LOC_PICK);
+ } else {
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, usedSlotsByLocDrop);
+ }
+ break;
+ default:
+ break;
+ }
+ }
+
+ }
+
+ public String getLocCode(String agvNo, AgvDetail agvDetail) {
+ if (LOC_CODE_DATA_CACHE.isEmpty()) {
+ return null;
+ }
+ Collections.shuffle(LOC_CODE_DATA_CACHE);
+ for (String locCodeData : LOC_CODE_DATA_CACHE) {
+ Code locCode = codeService.getCacheByData(locCodeData);
+
+ // valid lane
+ if (!allocateService.validCapacityOfLane(agvNo, locCode)) {
+ continue;
+ }
+
+ return locCodeData;
+ }
+ return LOC_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorDropCode(String agvNo) {
+ return CONVEYOR_DROP_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorPickCode(String agvNo) {
+ return CONVEYOR_PICK_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+
+ // pure move logic --------------------------------------------------
private void executePatrolLogic(String agvNo) {
this.patrolOfMove(agvNo);
@@ -77,7 +227,7 @@
return;
}
if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
- log.info(agvNo + "寮�濮嬭蛋琛屾紨绀�...");
+ log.info( "{}寮�濮嬭蛋琛屾紨绀�...", agvNo);
}
}
@@ -154,22 +304,23 @@
Runnable patrolTask = () -> {
try {
- executePatrolLogic(agvNo);
+// executePatrolLogic(agvNo);
+ executeUShapeConveyor(agvNo);
} catch (Exception e) {
- log.error("鎵цAGV " + agvNo + " 璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: " + e.getMessage());
- e.printStackTrace();
+ log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: {}", agvNo, e.getMessage());
}
};
ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
AGV_PATROL_MAP.put(agvNo, scheduledFuture);
- log.info("宸插惎鍔ˋGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
+ log.info("宸插惎鍔ˋGV{}鐨勮窇搴撲换鍔°��", agvNo);
return R.ok();
}
public R shutdownPatrol(String agvNo) {
+ Long agvId = agvService.getAgvId(agvNo);
ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
if (scheduledFuture == null) {
return R.error("AGV " + agvNo + " 娌℃湁姝ｅ湪杩愯鐨勮窇搴撲换鍔°��");
@@ -178,6 +329,8 @@
boolean cancelled = scheduledFuture.cancel(true);
if (cancelled) {
AGV_PATROL_MAP.remove(agvNo);
+ CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
+ this.agvJobMap.remove(agvNo);
log.info("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
return R.ok("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
} else {
@@ -192,8 +345,14 @@
if (count > 0) {
this.scheduler = Executors.newScheduledThreadPool(count);
}
+ // init all code data
List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));
this.CODE_DATA_CACHE = codeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
+ // int all loc code data
+ List<Code> locCodeList = codeService.getAllLocCode();
+ this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
}
@PreDestroy
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/CodeMapper.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/CodeMapper.java
index 15b13e3..cefe5cc 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/CodeMapper.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/mapper/CodeMapper.java
@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import com.zy.acs.manager.manager.entity.Code;
+import java.util.List;
import java.util.Map;
public interface CodeMapper extends BaseMapper<Code> {
@@ -13,4 +14,6 @@
int selectDistinctCountFromY();
+ List<Long> selectAllLocCode();
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/CodeService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/CodeService.java
index e7f9a5d..2d5cc3d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/CodeService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/CodeService.java
@@ -22,4 +22,6 @@
int selectDistinctCountFromY();
+ List<Code> getAllLocCode();
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
index ef2bd79..94c367b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java
@@ -211,8 +211,8 @@
@Override
public int getBackpackRemainingCapacity(Long agvId) {
int usedSlots = 0;
- Integer backpackCache = CoreCache.AGV_BACKPACK_CACHE.get(agvId);
- if (null != backpackCache) {
+ Integer usedBackpack = CoreCache.AGV_BACKPACK_USED_CACHE.get(agvId);
+ if (null == usedBackpack) {
usedSlots = taskService.findTransportTasksCountByAgv(agvId);
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeServiceImpl.java
index 58b3e32..81446cb 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/CodeServiceImpl.java
@@ -18,6 +18,7 @@
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.PostConstruct;
+import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@@ -201,4 +202,14 @@
return this.baseMapper.selectDistinctCountFromY();
}
+ @Override
+ public List<Code> getAllLocCode() {
+ List<Long> ids = this.baseMapper.selectAllLocCode();
+ List<Code> codeList = new ArrayList<>();
+ for (Long id : ids) {
+ codeList.add(this.getById(id));
+ }
+ return codeList;
+ }
+
}
diff --git a/zy-acs-manager/src/main/resources/mapper/manager/CodeMapper.xml b/zy-acs-manager/src/main/resources/mapper/manager/CodeMapper.xml
index 55fa95d..3a45fcc 100644
--- a/zy-acs-manager/src/main/resources/mapper/manager/CodeMapper.xml
+++ b/zy-acs-manager/src/main/resources/mapper/manager/CodeMapper.xml
@@ -53,4 +53,8 @@
AND deleted = 0
</select>
+ <select id="selectAllLocCode" resultType="java.lang.Long">
+ select distinct code from man_loc where 1=1 and code is not null
+ </select>
+
</mapper>
--
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