From f3481e45dbca9adac7e95c4f7c6f1bd08d681fc2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 21 十一月 2024 08:40:01 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java | 21 ++++---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 85 +++++++++++++---------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AllocateService.java | 48 ++++++++++++++++
3 files changed, 100 insertions(+), 54 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
index 6eff33b..2b43c73 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java
@@ -30,24 +30,27 @@
}
public enum PosType {
- MOVE(0),
- ORI_LOC(0),
- ORI_STA(0),
- DEST_LOC(INF),
- DEST_STA(INF),
- TO_CHARGE(INF * 10),
- TO_STANDBY(INF * 10),
+ MOVE(0, "MOVE"),
+ ORI_LOC(0, "ORIGIN"),
+ ORI_STA(0, "ORIGIN"),
+ DEST_LOC(INF, "DESTINATION"),
+ DEST_STA(INF, "DESTINATION"),
+ TO_CHARGE(INF * 10, "TO_CHARGE"),
+ TO_STANDBY(INF * 10, "TO_STANDBY"),
;
public int compOffset;
+ public String brief;
- PosType(int compOffset) {
+ PosType(int compOffset, String brief) {
this.compOffset = compOffset;
+ this.brief = brief;
}
+
}
public static void packagePosGroup(Map<String, List<TaskPosDto>> groups, Task task, Code code, PosType posType, String sameGroupXy) {
- String key = ("Y".equals(sameGroupXy) ? code.getY() : code.getX()) + posType.toString();
+ String key = ("Y".equals(sameGroupXy) ? code.getY() : code.getX()) + posType.brief;
Long taskId = task == null ? 0L : task.getId();
TaskPosDto taskPosDto = new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType);
taskPosDto.setCodeId(code.getId());
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 744917b..1c7f530 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
@@ -4,6 +4,7 @@
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.TaskPosDto;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
@@ -247,4 +248,51 @@
}
+ // The Permutations and combinations for task
+
+ public Double[] pac(Double[] currPosition, List<List<TaskPosDto>> list) {
+ List<TaskPosDto> theFirstOne = list.get(0);
+ List<TaskPosDto> theLastOne = list.get(list.size() - 1);
+
+ if (list.size() == 1) {
+ TaskPosDto head = theFirstOne.get(0);
+ TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
+
+ int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
+ int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
+
+ if (distanceByTail < distanceByHead) {
+ Collections.reverse(theFirstOne);
+ }
+
+ } else {
+ TaskPosDto headOfFirst = theFirstOne.get(0);
+ TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
+
+ TaskPosDto headOfLast = theLastOne.get(0);
+ TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
+
+ int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
+ int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
+
+ int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
+ int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
+
+ if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
+ Collections.reverse(list);
+
+ if (distanceByTailOfLast < distanceByHeadOfLast) {
+ Collections.reverse(theLastOne);
+ }
+ } else {
+ if (distanceByTailOfFirst < distanceByHeadOfFirst) {
+ Collections.reverse(theFirstOne);
+ }
+ }
+ }
+
+ theLastOne = list.get(list.size() - 1);
+ return theLastOne.get(theLastOne.size() - 1).getXy();
+ }
+
}
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 297d0f4..3b6ad34 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
@@ -350,13 +350,19 @@
/**
* 1.Map<String, List<TaskPosDto>> groups
*
- * key: 1000 + ORI_LOC
+ * key: 1000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 3000 + ORI_LOC
+ * key: 3000 + ORIGIN
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
- * key: 2000 + ORI_LOC
+ * key: 2000 + ORIGIN
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 1000 + DESTINATION
+ * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
+ *
+ * key: 2000 + DESTINATION
* val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
*
* ......
@@ -374,6 +380,8 @@
* 瀵规墍鏈夊贩閬撹繘琛屾湁搴忔帓搴忥紝鍏堟槸閽堝List涓轰竴涓崟浣嶏紝瀵逛粬浠繘琛孎irstWeight鎺掑簭锛岀浉褰撲簬琛�1鐨刱ey鐨勬暟鍊艰繘琛屾湁搴忔帓搴�
* List<TaskPosDto>: task list on the same lane
* ArrayList<List<TaskPosDto>>: all the task list by one agv
+ *
+ * tip: ORI 鍜� DEST 姘歌繙涓嶄細瀛樺湪鍚屼竴涓� List
*/
ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
list.sort((o1, o2) -> {
@@ -387,48 +395,35 @@
}
// re-order by agv current position
-// Code currCode = codeService.getById(agvDetail.getRecentCode());
-// Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
-//
-// List<TaskPosDto> theFirstOne = list.get(0);
-// List<TaskPosDto> theLastOne = list.get(list.size() - 1);
-//
-// if (list.size() == 1) {
-// TaskPosDto head = theFirstOne.get(0);
-// TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);
-//
-// int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
-// int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());
-//
-// if (distanceByTail < distanceByHead) {
-// Collections.reverse(theFirstOne);
-// }
-//
-// } else {
-// TaskPosDto headOfFirst = theFirstOne.get(0);
-// TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);
-//
-// TaskPosDto headOfLast = theLastOne.get(0);
-// TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);
-//
-// int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
-// int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());
-//
-// int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
-// int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());
-//
-// if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
-// Collections.reverse(list);
-//
-// if (distanceByTailOfLast < distanceByHeadOfLast) {
-// Collections.reverse(theLastOne);
-// }
-// } else {
-// if (distanceByTailOfFirst < distanceByHeadOfFirst) {
-// Collections.reverse(theFirstOne);
-// }
-// }
-// }
+ Code currCode = codeService.getById(agvDetail.getRecentCode());
+ Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};
+
+ List<List<TaskPosDto>> pickGroups = new ArrayList<>();
+ List<List<TaskPosDto>> dropGroups = new ArrayList<>();
+
+ for (List<TaskPosDto> group : list) {
+ // Assume 涓�涓换鍔＄粍涓墍鏈塗askPosDto鐨凱osType.brief鐩稿悓
+ TaskPosDto.PosType posType = group.get(0).getPosType();
+ if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
+ pickGroups.add(group);
+ } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
+ dropGroups.add(group);
+ } else {
+ // import tip: the list must only contain ORIGIN and DESTINATION
+ log.error("the list must only contain ORIGIN and DESTINATION");
+ }
+ }
+
+ currPosition = allocateService.pac(currPosition, pickGroups);
+ currPosition = allocateService.pac(currPosition, dropGroups);
+
+ List<List<TaskPosDto>> reorderedList = new ArrayList<>();
+ reorderedList.addAll(pickGroups);
+ reorderedList.addAll(dropGroups);
+
+ list.clear();
+ list.addAll(reorderedList);
+
// generate travel
Travel travel = new Travel();
--
Gitblit v1.9.1