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цAGV " + agvNo + " 璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: " + e.getMessage());
-                e.printStackTrace();
+                log.error("鎵цAGV{}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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