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> -- Gitblit v1.9.1