From db031bf3b7ce28f8e2c912c1556a50c74b47143d Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期三, 31 十二月 2025 16:40:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 92 +++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 87 insertions(+), 5 deletions(-)
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 ad7a709..bfbc67f 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
@@ -276,6 +276,9 @@
int backpackLev = 0;
int backpack = agvService.getBackpack(agvId);
List<Integer> usedBackpacks = segmentService.selectUsedBackpacks(currSeg.getTravelId(), agvId);
+ if (usedBackpacks.size() == backpackLev) {
+ throw new CoolException("[Agv:" + agvNo + "] allocate inbound segment failed: no idle backpack to use");
+ }
for (int lev = 1; lev <= backpack; lev++) {
if (!usedBackpacks.contains(lev)) {
backpackLev = lev;
@@ -313,29 +316,108 @@
// place segment
TaskTypeType taskType = Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()));
TaskPosDto.PosType posType;
- Long endCodeId;
+ Code endCode;
switch (taskType) {
case STA_TO_LOC:
posType = TaskPosDto.PosType.DEST_LOC;
Loc destLoc = locService.getById(task.getDestLoc());
- endCodeId = destLoc.getCode();
+ endCode = codeService.getCacheById(destLoc.getCode());
break;
case STA_TO_STA:
posType = TaskPosDto.PosType.DEST_STA;
Sta destSta = staService.getById(task.getDestSta());
- endCodeId = destSta.getCode();
+ endCode = codeService.getCacheById(destSta.getCode());
break;
default:
throw new BusinessException("[Agv:" + agvNo + "] allocate inbound only supports STA_TO_LOC/STA_TO_STA");
}
+ // calc placeSeg serial, through code position
+ List<Segment> destSegList = segmentService.list(new LambdaQueryWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .in(Segment::getPosType,
+ TaskPosDto.PosType.DEST_LOC.toString(),
+ TaskPosDto.PosType.DEST_STA.toString())
+ .orderByAsc(Segment::getSerial)
+ );
+
+ // build destPosList and sort
+ List<TaskPosDto> destPosList = new ArrayList<>();
+ for (Segment destSeg : destSegList) {
+ Code code = codeService.getCacheById(destSeg.getEndNode());
+ if (code == null) continue;
+
+ TaskPosDto dto = new TaskPosDto(destSeg.getTaskId(), new Double[]{code.getX(), code.getY()}, TaskPosDto.PosType.DEST_LOC);
+ dto.setCodeId(code.getId());
+ dto.setSegId(destSeg.getId());
+ destPosList.add(dto);
+ }
+ TaskPosDto newDto = new TaskPosDto(task.getId(), new Double[]{endCode.getX(), endCode.getY()}, TaskPosDto.PosType.DEST_LOC);
+ newDto.setCodeId(endCode.getId());
+ destPosList.add(newDto);
+
+ destPosList.sort((a, b) -> {
+ int c1 = Double.compare(a.getXy()[0], b.getXy()[0]); // X
+ if (c1 != 0) return c1;
+ int c2 = Double.compare(a.getXy()[1], b.getXy()[1]); // Y
+ if (c2 != 0) return c2;
+ // 鍚屽潗鏍囨椂鐢� taskId 鎵撴暎锛堥伩鍏嶆帓搴忎笉绋冲畾锛�
+ return Long.compare(a.getTaskId(), b.getTaskId());
+ });
+
+ // get placeSeg serial
+ int placeSegSerial = 9999;
+ // query placeSeg idx
+ int idx = -1;
+ for (int i = 0; i < destPosList.size(); i++) {
+ if (Objects.equals(destPosList.get(i).getCodeId(), newDto.getCodeId())
+ && Objects.equals(destPosList.get(i).getTaskId(), newDto.getTaskId())) {
+ idx = i;
+ break;
+ }
+ }
+ if (idx < 0) {
+ throw new BusinessException("failed to locate new destination in sorted list");
+ }
+
+ // 鍚庣户鐐�
+ TaskPosDto afterTaskPos = ((idx + 1) < destPosList.size()) ? destPosList.get(idx + 1) : null;
+ if (null == afterTaskPos) {
+ // loadSeg is the last one
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ Segment afterSeg = destSegList.stream()
+ .filter(destSeg -> Objects.equals(destSeg.getId(), afterTaskPos.getSegId()))
+ .findFirst()
+ .orElse(null);
+ if (null == afterSeg) {
+ placeSegSerial = destSegList.get(destSegList.size() - 1).getSerial() + 1;
+ } else {
+ placeSegSerial = afterSeg.getSerial();
+ }
+ }
+// placeSegSerial = Math.max(placeSegSerial, currSeg.getSerial() + 1);
+
+ // shift serial after
+ segmentService.update(new LambdaUpdateWrapper<Segment>()
+ .eq(Segment::getAgvId, agvId)
+ .eq(Segment::getTravelId, currSeg.getTravelId())
+ .ge(Segment::getSerial, placeSegSerial)
+ .ne(Segment::getState, SegmentStateType.FINISH.toString())
+ .setSql("serial = serial + 1")
+ .set(Segment::getUpdateTime, now)
+ );
+
+ // save place segment
Segment placeSeg = new Segment();
placeSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
placeSeg.setTravelId(currSeg.getTravelId());
placeSeg.setAgvId(agvId);
placeSeg.setTaskId(task.getId());
- placeSeg.setSerial();
- placeSeg.setEndNode(endCodeId);
+ placeSeg.setSerial(placeSegSerial);
+ placeSeg.setEndNode(endCode.getId());
placeSeg.setPosType(posType.toString());
placeSeg.setState(SegmentStateType.INIT.toString());
placeSeg.setBackpack(backpackLev);
--
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