From fd6d26f8ffe6a37533e741337f3eca9134d934c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 15 一月 2025 10:42:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 106 ++++++++++++++++++++++++++++------------------------
1 files changed, 57 insertions(+), 49 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 2dc8122..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
@@ -2,18 +2,14 @@
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.Agv;
-import com.zy.acs.manager.manager.entity.AgvDetail;
-import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.entity.Task;
+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.service.AgvDetailService;
-import com.zy.acs.manager.manager.service.AgvService;
-import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.TaskService;
+import com.zy.acs.manager.manager.enums.TravelStateType;
+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;
@@ -21,11 +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
@@ -34,13 +28,15 @@
@Service
public class PatrolService {
- private static final int SCHEDULE_TIME_INTERVAL = 5;
+ private static final int SCHEDULE_TIME_INTERVAL = 100;
- private static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
+ public static final Map<String, ScheduledFuture<?>> AGV_PATROL_MAP = new ConcurrentHashMap<>();
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
private ScheduledExecutorService scheduler = null;
+
+ private List<String> CODE_DATA_CACHE = new ArrayList<>();
@Autowired
private AgvService agvService;
@@ -55,7 +51,7 @@
@Autowired
private MapService mapService;
@Autowired
- private LaneService laneService;
+ private TravelService travelService;
@Autowired
private AllocateService allocateService;
@Autowired
@@ -66,70 +62,80 @@
}
private void patrolOfMove(String agvNo) {
- Agv agv = agvService.selectByUuid(agvNo);
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
- if (taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
- .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
+ Long agvId = agvService.getAgvId(agvNo);
+ if (0 < travelService.count(new LambdaQueryWrapper<Travel>()
+ .eq(Travel::getAgvId, agvId)
+ .eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
return;
}
- if (!agvService.judgeEnable(agv.getId())) {
+ if (!agvService.judgeEnable(agvId)) {
return;
}
- Code destinationCode = this.getDestinationCode(agv, agvDetail);
- if (null == destinationCode) {
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
+ String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
+ if (Cools.isEmpty(destinationCodeData)) {
return;
}
- if (mainLockWrapService.buildMinorTask(agv, agvDetail, TaskTypeType.MOVE, destinationCode.getData())) {
- log.info(agv.getUuid() + "寮�濮嬭蛋琛屾紨绀�...");
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info(agvNo + "寮�濮嬭蛋琛屾紨绀�...");
}
}
/**
- * buildMinorTask 娌℃湁璁剧疆lane锛宭ane鍙渶瑕佸叧娉ㄨ捣濮嬬偣锛堣蛋琛屽彧闇�瑕佸叧娉ㄧ粓鐐癸級
* 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��
- * patrolOfMove娌℃湁鍒ゆ柇lane鐨勫閲�
- * 鎶㈠崰寰呮満浣�
* agv鍦板浘鍥炬爣鍙樺寲
*/
- public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
- Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
+ public String getDestinationCode(String agvNo, AgvDetail agvDetail) {
- Code startCode = codeService.getById(agvDetail.getRecentCode());
+ Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
- List<String> notInCodeList = new ArrayList<>();
- notInCodeList.add("00000151");
- List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
+ 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");
- Collections.shuffle(list);
+ notInCodeSet.add("00000311");
+ notInCodeSet.add("00000312");
+ notInCodeSet.add("00000313");
+ notInCodeSet.add("00000361");
+ notInCodeSet.add("00000363");
+ notInCodeSet.add("00000411");
+ notInCodeSet.add("00000412");
- for (Code endCode : list) {
+ notInCodeSet.add("00000046");
+ notInCodeSet.add("00000047");
+
+ Collections.shuffle(CODE_DATA_CACHE);
+
+ for (String endCodeData : CODE_DATA_CACHE) {
+ if (notInCodeSet.contains(endCodeData)) { continue; }
+ Code endCode = codeService.getCacheByData(endCodeData);
+
// valid lane
- if (!allocateService.validCapacityOfLane(agv, endCode)) {
+ if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
continue;
}
// 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);
}
-
// ---------------------------------------------------------------------------
@@ -155,7 +161,7 @@
}
};
- ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.SECONDS);
+ ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);
AGV_PATROL_MAP.put(agvNo, scheduledFuture);
log.info("宸插惎鍔ˋGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
@@ -186,6 +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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