From 80f5003a640db7795d69c5e3a73caa685c289b80 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@gmail.com>
Date: 星期三, 14 一月 2026 16:27:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 330 ++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 269 insertions(+), 61 deletions(-)
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 e053b75..2918e16 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
@@ -3,17 +3,18 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
-import com.zy.acs.manager.core.domain.Lane;
+import com.zy.acs.manager.core.domain.AgvCntDto;
+import com.zy.acs.manager.core.domain.FilterLaneDto;
+import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
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.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
import java.util.*;
import java.util.stream.Collectors;
@@ -24,6 +25,8 @@
@Slf4j
@Service
public class AllocateService {
+
+ public static final Integer OUTBOUND_TASKS_ALLOCATE_LIMIT = 5;
@Autowired
private AgvService agvService;
@@ -42,43 +45,34 @@
@Autowired
private LocService locService;
@Autowired
- private LaneService laneService;
+ private LaneBuilder laneBuilder;
@Autowired
private AgvAreaDispatcher agvAreaDispatcher;
+ @Autowired
+ private SegmentService segmentService;
/**
* get available agv list which is idle
*/
- private List<String> getAvailableAgvNos(List<Long> agvIds) {
-// List<Agv> agvList = new ArrayList<>();
-// if (Cools.isEmpty(agvNos)) {
-// // global
-// agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
-// } else {
-// // local
-// for (String agvNo : agvNos) {
-// Agv agv = agvService.selectByUuid(agvNo);
-// if (agv.getStatusBool()) {
-// agvList.add(agv);
-// }
-// }
-// }
-
+ private List<String> getAvailableAgvNos(List<Long> agvIds, boolean hasRunning) {
List<Agv> agvList = Cools.isEmpty(agvIds)
? agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val))
: agvIds.stream().map(agvService::getById).filter(Agv::getStatusBool).collect(Collectors.toList());
List<String> result = new ArrayList<>();
for (Agv agv : agvList) {
- // 1. without running tasks
- if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .and(i ->
- i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
- )
- )) {
- continue;
+ if (!hasRunning) {
+ // 1. without running tasks
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getAgvId, agv.getId())
+ .and(i -> i
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+ .or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
+ )
+ )) {
+ continue;
+ }
}
// 2. in idle status
if (!agvService.judgeEnable(agv.getId(), true)) {
@@ -89,11 +83,66 @@
}
if (!Cools.isEmpty(result)) {
- // todo: 杞鏉冮噸
Collections.shuffle(result);
}
return result;
+ }
+
+ @Transactional(rollbackFor = Exception.class)
+ public synchronized String execute(Task task, AllocateSupport inbound, AllocateSupport normal) {
+ // inbound roller station
+ Sta rollerOriSta = getInboundRollerSta(task);
+ String inboundAgv = tryAllocateForRoller(task, rollerOriSta, true);
+ if (!Cools.isEmpty(inboundAgv)) {
+ inbound.success(task, inboundAgv, rollerOriSta);
+ return inboundAgv;
+ }
+
+ // outbound roller station
+ Sta rollerDestSta = getOutboundRollerSta(task);
+ String outboundAgv = tryAllocateForRoller(task, rollerDestSta, false);
+ if (!Cools.isEmpty(outboundAgv)) {
+ normal.success(task, outboundAgv, rollerDestSta);
+ return outboundAgv;
+ }
+
+ String normalAgv = this.normalExecute(task);
+ if (!Cools.isEmpty(normalAgv)) {
+ normal.success(task, normalAgv, null);
+ return normalAgv;
+ }
+
+ return null;
+ }
+
+ private String tryAllocateForRoller(Task task, Sta rollerSta, boolean inbound) {
+ if (rollerSta == null) {
+ return null;
+ }
+
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), true);
+ FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
+ if (filterLaneDto == null) {
+ return null;
+ }
+
+ String agvNo = inbound
+ ? this.checkoutAgvForInboundRoller(task, rollerSta, filterLaneDto.getActualAvailableAgvNos())
+ : this.checkoutAgvForOutboundRoller(task, rollerSta, filterLaneDto.getActualAvailableAgvNos());
+ if (Cools.isEmpty(agvNo)) {
+ return null;
+ }
+
+ // record lane hash for later dispatch/traffic-control logic
+ if (filterLaneDto.getOriginLaneDto() != null) {
+ task.setOriLaneHash(filterLaneDto.getOriginLaneDto().getHashCode());
+ }
+ if (filterLaneDto.getDestinationLaneDto() != null) {
+ task.setDestLaneHash(filterLaneDto.getDestinationLaneDto().getHashCode());
+ }
+
+ return agvNo;
}
/**
@@ -105,23 +154,150 @@
*
* it can break the limit of the number of agv backpack
*/
- public synchronized Agv execute(Task task) {
- List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task));
+ public synchronized String normalExecute(Task task) {
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task), false);
// List<String> availableAgvNos = this.getAvailableAgvNos(null);
if (Cools.isEmpty(availableAgvNos)) {
// log.warn("No available agv to assign the task[{}]", task.getSeqNum());
return null;
}
+
+ // calc lane
+ FilterLaneDto filterLaneDto = this.filterThroughLane(task, availableAgvNos);
+ if (null == filterLaneDto) {
+ return null;
+ }
+ LaneDto originLaneDto = filterLaneDto.getOriginLaneDto();
+ LaneDto destinationLaneDto = filterLaneDto.getDestinationLaneDto();
+ List<String> actualAvailableAgvNos = filterLaneDto.getActualAvailableAgvNos();
+ if (Cools.isEmpty(actualAvailableAgvNos)) {
+ return null;
+ }
+
+ // choose min number of running task
+ actualAvailableAgvNos.sort((o1, o2) -> Integer.compare(
+ calcAllocateWeight(o2, task),
+ calcAllocateWeight(o1, task)
+ ));
+
+ if (null != originLaneDto) {
+ task.setOriLaneHash(originLaneDto.getHashCode());
+ }
+ if (null != destinationLaneDto) {
+ task.setDestLaneHash(destinationLaneDto.getHashCode());
+ }
+
+ return actualAvailableAgvNos.get(0);
+ }
+
+ private String checkoutAgvForInboundRoller(Task task, Sta sta, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task, sta)) {
+ return null;
+ }
+
+ for (String agvNo : availableAgvNos) {
+ Long agvId = agvService.getAgvId(agvNo);
+ Code currentCode = agvDetailService.getCurrentCode(agvId);
+ if (null == currentCode) {
+ continue;
+ }
+
+ // only checkout the agv which at sta code position
+ if (!sta.getCode().equals(currentCode.getId())) {
+ continue;
+ }
+
+ // has running task and within oriSta
+// int taskCnt = taskService.count(new LambdaQueryWrapper<Task>()
+// .eq(Task::getAgvId, agvId)
+// .eq(Task::getOriSta, sta.getId())
+// .and(wrapper -> wrapper
+// .eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
+// .or()
+// .eq(Task::getTaskSts, TaskStsType.PROGRESS.val())
+// )
+// );
+// if (taskCnt == 0) {
+// continue;
+// }
+ // in TransferStationHandler.hasDelayAtSta
+ Segment currSeg = segmentService.getRollerWaiting(agvId, sta.getCode(), TaskPosDto.PosType.ORI_STA);
+ if (null == currSeg) {
+ continue;
+ }
+
+ // has enough backpack space to load
+ Integer backpack = agvService.getBackpack(agvId);
+ List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(null, agvId);
+ if (usedBackpacks.size() >= backpack) {
+ continue;
+ }
+
+ return agvNo;
+ }
+
+ return null;
+ }
+
+ private String checkoutAgvForOutboundRoller(Task task, Sta sta, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task, sta)) {
+ return null;
+ }
+
+ List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getDestSta, sta.getId())
+ .eq(Task::getTaskSts, TaskStsType.WAITING.val())
+ .isNotNull(Task::getAgvId)
+ );
+ if (Cools.isEmpty(taskList)) {
+ return null;
+ }
+
+ List<AgvCntDto> cntDtoList = new ArrayList<>();
+ for (Task t : taskList) {
+ AgvCntDto cntDto = new AgvCntDto(t.getAgvId());
+ if (AgvCntDto.has(cntDtoList, cntDto)) {
+ AgvCntDto dto = AgvCntDto.find(cntDtoList, cntDto);
+ assert null != dto;
+ dto.setCount(dto.getCount() + 1);
+ } else {
+ cntDtoList.add(cntDto);
+ }
+ }
+
+ cntDtoList.sort(new Comparator<AgvCntDto>() {
+ @Override
+ public int compare(AgvCntDto o1, AgvCntDto o2) {
+ return o1.getCount() - o2.getCount();
+ }
+ });
+
+ for (AgvCntDto cntDto : cntDtoList) {
+
+ if (cntDto.getAgvId() >= OUTBOUND_TASKS_ALLOCATE_LIMIT) {
+ continue;
+ }
+ return agvService.getAgvNo(cntDto.getAgvId());
+ }
+
+ return null;
+ }
+
+ public FilterLaneDto filterThroughLane(Task task, List<String> availableAgvNos) {
+ if (Cools.isEmpty(availableAgvNos, task)) {
+ return null;
+ }
+
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
// checkout lane
- Lane originLane = taskService.checkoutOriginLane(task);
- Lane destinationLane = taskService.checkoutDestinationLane(task);
+ LaneDto originLaneDto = taskService.checkoutOriginLane(task);
+ LaneDto destinationLaneDto = taskService.checkoutDestinationLane(task);
// allocate about origin
List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
- if (null != originLane) {
- List<String> agvNosByOriLane = findAgvNosByLane(originLane); // the agv list that had tasks in this lane
+ if (null != originLaneDto) {
+ List<String> agvNosByOriLane = findAgvNosByLane(originLaneDto); // the agv list that had tasks in this lane
// if full lane
if (agvNosByOriLane.size() >= maxAgvCountInLane) {
@@ -134,8 +310,8 @@
// allocate about destination
List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos);
- if (null != destinationLane) {
- List<String> agvNosByDestLane = findAgvNosByLane(destinationLane);
+ if (null != destinationLaneDto) {
+ List<String> agvNosByDestLane = findAgvNosByLane(destinationLaneDto);
if (agvNosByDestLane.size() >= maxAgvCountInLane) {
availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
@@ -158,30 +334,14 @@
return null;
}
- // choose min number of running task
- actualAvailableAgvNos.sort(new Comparator<String>() {
- @Override
- public int compare(String agvNo1, String agvNo2) {
- return calcAllocateWeight(agvNo1, task) - calcAllocateWeight(agvNo2, task);
- }
- });
-
-
- if (null != originLane) {
- task.setOriLaneHash(originLane.getHashCode());
- }
- if (null != destinationLane) {
- task.setDestLaneHash(destinationLane.getHashCode());
- }
-
- return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
+ return new FilterLaneDto(originLaneDto, destinationLaneDto, actualAvailableAgvNos);
}
- public List<String> findAgvNosByLane(Lane lane) {
- if (null == lane) {
+ public List<String> findAgvNosByLane(LaneDto laneDto) {
+ if (null == laneDto) {
return new ArrayList<>();
}
- List<Task> taskList = taskService.findRunningTasksByLaneHash(lane.getHashCode());
+ List<Task> taskList = taskService.findRunningTasksByLaneHash(laneDto.getHashCode());
if (Cools.isEmpty(taskList)) {
return new ArrayList<>();
}
@@ -252,11 +412,11 @@
}
public Boolean validCapacityOfLane(String agvNo, Code code) {
- Lane lane = laneService.search(code.getData());
- if (null != lane) {
+ LaneDto laneDto = laneBuilder.search(code.getData());
+ if (null != laneDto) {
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
- List<String> agvNosByLane = this.findAgvNosByLane(lane);
+ List<String> agvNosByLane = this.findAgvNosByLane(laneDto);
agvNosByLane.remove(agvNo);
if (agvNosByLane.size() >= maxAgvCountInLane) {
return false;
@@ -314,4 +474,52 @@
return theLastOne.get(theLastOne.size() - 1).getXy();
}
+
+
+ // about roller --------------------------------------------
+
+ private Sta getInboundRollerSta(Task task) {
+ TaskTypeType type = TaskTypeType.get(task.getTaskTypeEl());
+ switch (Objects.requireNonNull(type)) {
+ case STA_TO_LOC:
+ case STA_TO_STA:
+ Long oriStaId = task.getOriSta();
+ if (null == oriStaId) {
+ return null;
+ }
+ Sta oriSta = staService.getById(oriStaId);
+ if (oriSta == null || Cools.isEmpty(oriSta.getStaType())) {
+ return null;
+ }
+ if (StaTypeType.ROLLER.val() != oriSta.getStaType()) {
+ return null;
+ }
+ return oriSta;
+ default:
+ return null;
+ }
+ }
+
+ private Sta getOutboundRollerSta(Task task) {
+ TaskTypeType type = TaskTypeType.get(task.getTaskTypeEl());
+ switch (Objects.requireNonNull(type)) {
+ case LOC_TO_STA:
+ case STA_TO_STA:
+ Long destStaId = task.getDestSta();
+ if (null == destStaId) {
+ return null;
+ }
+ Sta destSta = staService.getById(destStaId);
+ if (destSta == null || Cools.isEmpty(destSta.getStaType())) {
+ return null;
+ }
+ if (StaTypeType.ROLLER.val() != destSta.getStaType()) {
+ return null;
+ }
+ return destSta;
+ default:
+ return null;
+ }
+ }
+
}
--
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