From bfac8bfa522289b8d2c0b66c50c4bf8b8d75c0e1 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 29 十月 2024 14:27:02 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java | 11 -
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 22 ++-
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java | 7 +
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java | 145 ++++++++++++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java | 32 ++++--
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java | 11 ++
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 5
zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/AgvServiceImpl.java | 16 +++
10 files changed, 223 insertions(+), 30 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
index 95f7210..a3df759 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java
@@ -4,10 +4,7 @@
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
-import com.zy.acs.manager.manager.enums.FuncStaStateType;
-import com.zy.acs.manager.manager.enums.FuncStaType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -41,24 +38,39 @@
private ConfigService configService;
@Autowired
private AgvModelService agvModelService;
+ @Autowired
+ private SegmentService segmentService;
@Scheduled(cron = "0/5 * * * * ? ")
private synchronized void autoCharge(){
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
for (Agv agv : agvList) {
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
continue;
}
- if (agvDetail.getVol() <= agv.getChargeLine() && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ continue;
+ }
+ if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
if (taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getAgvId, agv.getId())
.and(i -> {
// i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
- i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+ i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
})) > 0) {
- return;
+ continue;
+ }
+ if (segmentService.count(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agv.getId())
+ .and( i -> {
+// i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
+ i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
+ })
+ ) > 0) {
+ continue;
}
mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
}
@@ -71,7 +83,7 @@
private void autoStandby(){
// 1.agv鍏呯數鍒颁竴瀹氱數鍘嬪悗锛屽洖鍒板緟鏈轰綅
// 2.agv娌℃湁浠诲姟鏃讹紝鍥炲埌寰呮満浣�
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
label: for (Agv agv : agvList) {
AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
index 279170e..c62fe74 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java
@@ -5,6 +5,7 @@
import com.zy.acs.manager.common.utils.LocUtils;
import com.zy.acs.manager.core.domain.Lane;
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.service.*;
@@ -47,7 +48,7 @@
*/
private List<Agv> getAvailableAgv() {
List<Agv> result = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
@@ -241,7 +242,7 @@
Agv hit = null;
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
Collections.shuffle(agvList);
for (Agv agv : agvList) {
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
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 c35cd65..1e752b6 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
@@ -499,16 +499,22 @@
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());
}
+
+// 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);
+// endCode = codeService.getById(funcSta.getCode());
+// }
break;
case MOVE:
endCode = codeService.selectByData(destination);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java
index a5a6429..7159bb3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/DigitalController.java
@@ -7,16 +7,13 @@
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.enums.AgvInOutFlagType;
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.manager.controller.result.DigitalAgvVo;
import com.zy.acs.manager.manager.controller.result.DigitalStockVo;
import com.zy.acs.manager.manager.entity.*;
-import com.zy.acs.manager.manager.enums.ActionStsType;
-import com.zy.acs.manager.manager.enums.ActionTypeType;
-import com.zy.acs.manager.manager.enums.LocStsType;
-import com.zy.acs.manager.manager.enums.TaskStsType;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
-import com.zy.acs.framework.common.Cools;
-import com.zy.acs.framework.common.R;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestMapping;
@@ -51,7 +48,7 @@
public R getAgvInfo() {
List<DigitalAgvVo> voList = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
for (Agv agv : agvList) {
DigitalAgvVo vo = new DigitalAgvVo();
vo.setAgvNo(agv.getUuid());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
index 638bd43..82a11cc 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/AgvService.java
@@ -35,4 +35,6 @@
Integer getBackpack(Agv agv);
+ Agv findByPosition(Long codeId);
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
index 2499426..4c98b4b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/FuncStaService.java
@@ -2,6 +2,9 @@
import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.acs.manager.manager.entity.FuncSta;
+import com.zy.acs.manager.manager.enums.FuncStaType;
+
+import java.util.List;
public interface FuncStaService extends IService<FuncSta> {
@@ -9,4 +12,8 @@
FuncSta query(Long agvId, Long codeId, String type);
+ List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId);
+
+ FuncSta checkoutClosestFunSta(Long codeId, List<FuncSta> funcStaList);
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
index 84a32f1..364104b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/TaskService.java
@@ -34,4 +34,6 @@
List<Task> findRunningTasksByAgv(Long agvId);
+ Task findLatestTask(Long agvId);
+
}
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 336317f..844be39 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
@@ -13,6 +13,7 @@
import com.zy.acs.manager.manager.controller.result.AgvResult;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.SegmentStateType;
+import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.mapper.AgvMapper;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
@@ -160,4 +161,19 @@
return agvModel.getBackpack();
}
+ @Override
+ public Agv findByPosition(Long codeId) {
+ List<Agv> agvList = this.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+ for (Agv agv : agvList) {
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (null == agvDetail) {
+ continue;
+ }
+ if (agvDetail.getRecentCode().equals(codeId)) {
+ return agv;
+ }
+ }
+ return null;
+ }
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index 680bfde..ae89023 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -2,16 +2,37 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.zy.acs.manager.manager.entity.FuncSta;
-import com.zy.acs.manager.manager.mapper.FuncStaMapper;
-import com.zy.acs.manager.manager.service.FuncStaService;
+import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.FuncStaType;
+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.mapper.FuncStaMapper;
+import com.zy.acs.manager.manager.service.*;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
import java.util.List;
+import java.util.stream.Collectors;
@Service("funcStaService")
public class FuncStaServiceImpl extends ServiceImpl<FuncStaMapper, FuncSta> implements FuncStaService {
+
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private AgvModelService agvModelService;
+ @Autowired
+ private TaskService taskService;
@Override
public FuncSta getByCodeAndType(Long codeId, String type) {
@@ -32,4 +53,122 @@
return list.stream().findFirst().orElse(null);
}
+ @Override
+ public List<FuncSta> findInIdleStatus(FuncStaType type, Long agvId) {
+ LambdaQueryWrapper<FuncSta> wrapper = new LambdaQueryWrapper<FuncSta>()
+ .eq(FuncSta::getType, type).eq(FuncSta::getStatus, StatusType.ENABLE.val);
+ if (null != agvId) {
+ wrapper.eq(FuncSta::getAgvId, agvId);
+ }
+ List<FuncSta> funcStaList = this.list(wrapper);
+ funcStaList = funcStaList.stream().filter(funcSta -> {
+ if (null != funcSta.getAgvId()) {
+ if (!funcSta.getAgvId().equals(agvId)) {
+ return false;
+ }
+ }
+
+ return true;
+ }).collect(Collectors.toList());
+
+ if (Cools.isEmpty(funcStaList)) {
+ return new ArrayList<>();
+ }
+
+ Collections.shuffle(funcStaList);
+ // filter idle
+ funcStaList = funcStaList.stream().filter(funcSta -> {
+
+ Long code = funcSta.getCode();
+ if (null == code) {
+ return false;
+ }
+
+ Agv existAgv = agvService.findByPosition(code);
+
+ if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
+ // if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
+ if (null != existAgv) {
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(existAgv.getId());
+ AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel());
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ if (agvDetail.getVol() < agvModel.getQuaBattery()) {
+ return false;
+ }
+ }
+ }
+
+ // if there is a running task whose destination is this funSta, then that means this funSta is occupied
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
+ .eq(Task::getDestCode, code)
+ )) {
+ return false;
+ }
+
+ }
+
+ if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) {
+
+ if (null == existAgv) {
+ // if there is a running task whose destination is this funSta, then that means this funSta is occupied
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
+ .eq(Task::getDestCode, code)
+ )) {
+ return false;
+ }
+
+ } else {
+ // if there is an agv on the code of this funSta, should we let this agv leave?
+ // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
+
+// Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
+
+ }
+ }
+
+ return true;
+ }).collect(Collectors.toList());
+
+ return funcStaList;
+ }
+
+ @Override
+ public FuncSta checkoutClosestFunSta(Long codeId, List<FuncSta> funcStaList) {
+ if (Cools.isEmpty(funcStaList)) {
+ return null;
+ }
+
+ if (null != codeId) {
+ Code currCode = codeService.getById(codeId);
+ Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
+
+ // checkout one funSta which is the closest
+
+ // compare => compare杩斿洖璐熸暟锛屽垯鎺掑湪闆嗗悎鍓嶉潰 锛坅sc锛�
+ funcStaList.sort(new Comparator<FuncSta>() {
+ @Override
+ public int compare(FuncSta o1, FuncSta o2) {
+ Code o1Code = codeService.getById(o1.getCode());
+ int o1Distance = calcPositionDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+
+ Code o2Code = codeService.getById(o2.getCode());
+ int o2Distance = calcPositionDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+
+ return o1Distance - o2Distance;
+ }
+ });
+
+ }
+
+ return funcStaList.stream().findFirst().orElse(null);
+ }
+
+ private int calcPositionDistance(Double[] from, Double[] to) {
+ return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
+ }
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
index f37814e..88dc08e 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TaskServiceImpl.java
@@ -186,6 +186,17 @@
return this.list(wrapper);
}
+ @Override
+ public Task findLatestTask(Long agvId) {
+ LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<Task>()
+ .orderByDesc(Task::getCreateTime)
+ .last("limit 0, 1");
+ if (null != agvId) {
+ wrapper.eq(Task::getAgvId, agvId);
+ }
+ return this.list(wrapper).stream().findFirst().orElse(null);
+ }
+
@Transactional
public void maintainLocSts(Task task, Boolean complete) {
Loc oriLoc = null; Loc destLoc = null;
--
Gitblit v1.9.1