From e286f7e2b9e80162e132311fb02402d8a3a951f4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 13 一月 2025 14:22:58 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 81 +++++++++++++++++++---------------------
1 files changed, 39 insertions(+), 42 deletions(-)
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 07399a5..b0497c5 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
@@ -2,6 +2,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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.entity.*;
import com.zy.acs.manager.manager.enums.StatusType;
@@ -16,11 +17,9 @@
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
import java.util.concurrent.*;
+import java.util.stream.Collectors;
/**
* Created by vincent on 11/9/2024
@@ -36,6 +35,8 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
private ScheduledExecutorService scheduler = null;
+
+ private List<String> CODE_DATA_CACHE = new ArrayList<>();
@Autowired
private AgvService agvService;
@@ -67,21 +68,15 @@
.eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
return;
}
-// if (taskService.count(new LambdaQueryWrapper<Task>()
-// .eq(Task::getAgvId, agvId)
-// .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
-// ) > 0) {
-// return;
-// }
if (!agvService.judgeEnable(agvId)) {
return;
}
AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
- Code destinationCode = this.getDestinationCode(agvNo, agvDetail);
- if (null == destinationCode) {
+ String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
+ if (Cools.isEmpty(destinationCodeData)) {
return;
}
- if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCode.getData(), null)) {
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
log.info(agvNo + "寮�濮嬭蛋琛屾紨绀�...");
}
}
@@ -89,43 +84,44 @@
/**
* 4涓湴鏂硅皟鐢ㄤ簡buildMinorTask锛屽湪浠�涔堟椂鍊欍�佸摢閲岃缃畉ask鐨刲ane
* (
- * HandlerController, 鎵嬪姩 锛堟墜鍔ㄦ槸鍚﹂渶瑕佸垽鏂璴ane锛�
- * MaintainScheduler, 鑷姩 锛堜竴鑸笉闇�瑕佽�冭檻 lane锛�
- * PatrolService, 鑷姩 锛堥渶瑕侀澶勭悊 lane锛� 鉁�
- * TrafficService, 鑷姩 锛堝鍧�鏃跺凡缁忓鐞嗚繃 lane锛� 鉁�
+ * HandlerController, 鎵嬪姩 锛堟墜鍔ㄦ槸鍚﹂渶瑕佸垽鏂璴ane锛�
+ * MaintainScheduler, 鑷姩 锛堜竴鑸笉闇�瑕佽�冭檻 lane锛�
+ * PatrolService, 鑷姩 锛堥渶瑕侀澶勭悊 lane锛� 鉁�
+ * TrafficService, 鑷姩 锛堝鍧�鏃跺凡缁忓鐞嗚繃 lane锛� 鉁�
* )
* 璇勪及HandlerController娌℃湁璋冪敤buildMajorTask锛屾墜鍔ㄥ垱寤簍ask鐨勫彲琛屾��
* agv鍦板浘鍥炬爣鍙樺寲
*/
- public Code getDestinationCode(String agvNo, AgvDetail agvDetail) {
- Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
+ public String getDestinationCode(String agvNo, AgvDetail agvDetail) {
Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
- List<String> notInCodeList = new ArrayList<>();
- notInCodeList.add("00000301");
- notInCodeList.add("00000302");
- notInCodeList.add("00000303");
- notInCodeList.add("00000351");
- notInCodeList.add("00000353");
- notInCodeList.add("00000401");
- notInCodeList.add("00000402");
+ Set<String> notInCodeSet = new HashSet<>();
+ notInCodeSet.add("00000301");
+ notInCodeSet.add("00000302");
+ notInCodeSet.add("00000303");
+ notInCodeSet.add("00000351");
+ notInCodeSet.add("00000353");
+ notInCodeSet.add("00000401");
+ notInCodeSet.add("00000402");
- notInCodeList.add("00000311");
- notInCodeList.add("00000312");
- notInCodeList.add("00000313");
- notInCodeList.add("00000361");
- notInCodeList.add("00000363");
- notInCodeList.add("00000411");
- notInCodeList.add("00000412");
+ notInCodeSet.add("00000311");
+ notInCodeSet.add("00000312");
+ notInCodeSet.add("00000313");
+ notInCodeSet.add("00000361");
+ notInCodeSet.add("00000363");
+ notInCodeSet.add("00000411");
+ notInCodeSet.add("00000412");
- notInCodeList.add("00000046");
- notInCodeList.add("00000047");
- List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
+ notInCodeSet.add("00000046");
+ notInCodeSet.add("00000047");
- Collections.shuffle(list);
+ Collections.shuffle(CODE_DATA_CACHE);
- for (Code endCode : list) {
+ for (String endCodeData : CODE_DATA_CACHE) {
+ if (notInCodeSet.contains(endCodeData)) { continue; }
+ Code endCode = codeService.getCacheByData(endCodeData);
+
// valid lane
if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
continue;
@@ -134,13 +130,12 @@
// valid path length
List<String> pathList = mapService.validFeasibility(startCode, endCode);
if (pathList.size() >= 5) {
- return endCode;
+ return endCodeData;
}
}
- return list.stream().findFirst().orElse(null);
+ return CODE_DATA_CACHE.stream().findFirst().orElse(null);
}
-
// ---------------------------------------------------------------------------
@@ -197,6 +192,8 @@
if (count > 0) {
this.scheduler = Executors.newScheduledThreadPool(count);
}
+ 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());
}
@PreDestroy
--
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