From cd67e854d4715bc92a16dc7bffdbde7be1da9957 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期四, 27 三月 2025 13:02:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java | 61 ++++++++++++++++++++----------
1 files changed, 41 insertions(+), 20 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
index 10adeb2..4ef5050 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/KernelScheduler.java
@@ -4,6 +4,8 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
+import com.zy.acs.manager.core.constant.AgvGroupConstant;
+import com.zy.acs.manager.core.constant.LocGroupConstant;
import com.zy.acs.manager.core.domain.AgvTaskDto;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
@@ -15,10 +17,11 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
-import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Collections;
@@ -35,7 +38,7 @@
@Component
public class KernelScheduler {
- public static int CORE_SCAN_FREQUENCY_MILLISECOND = 30;
+ public static int CORE_SCAN_FREQUENCY_MILLISECOND = 15;
private static final int LOCK_TIMEOUT = 5;
@@ -104,7 +107,8 @@
this.lock.unlock();
}
- @PostConstruct
+// @PostConstruct
+ @EventListener(ApplicationReadyEvent.class)
public void init() {
try { Thread.sleep(1200); } catch (InterruptedException ignore) {}
// traffic calculate
@@ -134,11 +138,9 @@
try {
Thread.sleep(CORE_SCAN_FREQUENCY_MILLISECOND);
- List<String> actionGroupIds = actionService.selectPrepareGroup();
+ List<String> actionGroupIds = actionService.selectGroupNo(ActionStsType.PREPARE);
for (String actionGroupId : actionGroupIds) {
- long startTime = System.currentTimeMillis();
mainService.publishAction(actionGroupId);
- log.info("publish action calculation spend {} ms", System.currentTimeMillis() - startTime);
}
} catch (Exception e) {
@@ -217,29 +219,46 @@
}
}
-
-
// auto loc to loc ----------------------------------------------------------------------------------------------
@Scheduled(cron = "0/1 * * * * ? ")
private void autoLocToLoc() {
if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
- // 鏈�澶氫袱缁刡us杩愯
-// if (1 < busService.count(new LambdaQueryWrapper<Bus>().in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val()))) {
-// return;
-// }
+ this.runLocToLoc(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.LEFT_LOC_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.MIDDLE_LOC_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.RIGHT_LOC_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
+ this.runLocToLoc(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
+ }
- int agvCount = agvService.count(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
- if (null == agvModel || 0 == agvCount) {
+ private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
+ Integer startRow = Collections.min(locGroupList);
+ Integer endRow = Collections.max(locGroupList);
+
+ String memo = "DEMO_" + startRow + "-" + endRow;
+
+ int agvCount = agvGroupList.size();
+
+ // 鏈�澶� ? 缁刡us杩愯
+ if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
+ .in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
+ .eq(Bus::getMemo, memo)
+ )) {
return;
}
-// int maxCapacity = agvModel.getBackpack() * agvCount;
+
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) {
+ return;
+ }
int maxCapacity = agvModel.getBackpack();
// STOCK
- List<Loc> stockList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val()));
+ LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
+ if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
+ List<Loc> stockList = locService.list(stockWrapper);
if (Cools.isEmpty(stockList) || stockList.size() < agvModel.getBackpack()) {
return;
}
@@ -250,7 +269,10 @@
int numOfStockLocList = stockList.size();
// IDLE
- List<Loc> idleList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val()));
+ LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
+ if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
+ List<Loc> idleList = locService.list(idleWrapper);
if (Cools.isEmpty(idleList)) {
return;
}
@@ -271,10 +293,9 @@
taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
param.getTaskList().add(taskDto);
-
}
- mainService.generateBusAndTask(param, "autoLocToLoc");
+ mainService.generateBusAndTask(param, memo);
}
}
--
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