From c65a357fc8b907af755e1ef6a2c201e31eb71e94 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期六, 07 二月 2026 13:50:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/test/AutoRunScheduler.java | 226 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 142 insertions(+), 84 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/test/AutoRunScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/test/AutoRunScheduler.java
index b19a9e6..14ec959 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/test/AutoRunScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/test/AutoRunScheduler.java
@@ -12,6 +12,7 @@
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.CodeServiceImpl;
+import com.zy.acs.manager.manager.service.impl.TaskServiceImpl;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -19,6 +20,7 @@
import org.springframework.stereotype.Component;
import java.util.*;
+import java.util.stream.Collectors;
@Slf4j
@Component
@@ -48,77 +50,86 @@
private AreaGovernService areaGovernService;
@Autowired
private CodeServiceImpl codeService;
+ @Autowired
+ private AreaAgvService areaAgvService;
+ @Autowired
+ private AreaService areaService;
+ @Autowired
+ private TaskServiceImpl taskService;
// @Scheduled(fixedRate = 500) // 鍥哄畾棰戠巼鎵ц锛屼笉鍚屾
@Scheduled(fixedDelay = 1000) // 鍥哄畾棰戠巼鎵ц锛屽悓姝�
// @Scheduled(cron = "0/1 * * * * ? ")
private void execute() {
- if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
+ if (!configService.getVal("TaskAssignMode", Boolean.class)) {
+ return;
+ }
+ Boolean maintainLocSts = configService.getVal("maintainLocSts", Boolean.class);
+ if (!maintainLocSts) {
+ log.error("failed to run auto agv task, the maintainLocSts is false");
+ return;
+ }
AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, DEFAULT_AGV_MODEL.toString()));
- if (null == agvModel) { return; }
+ if (null == agvModel) {
+ return;
+ }
this.autoRun(agvModel);
}
private void autoRun(AgvModel agvModel) {
int availableAgvCount = this.getAvailableAgvCount();
- if (0 == availableAgvCount) { return; }
+ if (0 == availableAgvCount) {
+ log.error("failed to run auto agv task, 璺戝簱鍖哄煙鏃犲彲鐢ㄥ皬杞�");
+ return;
+ }
// List<String> staPreNos = getStaPrefixes(staGroupList);
List<String> staPreNos = new ArrayList<>();
String memo = "DEMO_STA_" + String.join("-", staPreNos);
-
+ List<String> codes = getTestAreaCodes();
+ if (codes.isEmpty()) {
+ log.error("failed to run auto agv task, 鏈厤缃窇搴撳尯鍩�");
+ return;
+ }
// 鍏ュ簱
- this.runStaToLoc(agvModel, memo);
+ this.runStaToLoc(agvModel, codes, memo);
// 鍑哄簱
- this.runLocToSta(agvModel, memo);
+ this.runLocToSta(agvModel, codes, memo);
// 绉诲簱
- this.runLocToLoc(agvModel, memo);
+ this.runLocToLoc(agvModel, codes, memo);
}
// 鍏ュ簱
- private void runStaToLoc(AgvModel agvModel, String memo) {
+ private void runStaToLoc(AgvModel agvModel, List<String> codes, String memo) {
// STOCK STA
List<Sta> stockList = staService.queryAvailableOutSta(1);
- if (Cools.isEmpty(stockList)) { return; }
- Collections.shuffle(stockList);
+ List<Sta> staList = new ArrayList<>();
+ for (Sta sta : stockList) {
+ if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
+ if ((sta.getCapacity() - sta.getRsvInCnt()) > (list.isEmpty() ? 0 : list.size())) {
+ staList.add(sta);
+ }
+ }
+ }
+ if (Cools.isEmpty(staList)) {
+ return;
+ }
+ Collections.shuffle(staList);
OpenBusSubmitParam param = new OpenBusSubmitParam();
param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
- for (int i = 0; i < Math.min(agvModel.getBackpack(), stockList.size()) ; i++) {
- Sta stockSta = stockList.get(i);
- String staCode = codeService.getCacheById(stockSta.getCode()).getData();
+ for (int i = 0; i < Math.min(agvModel.getBackpack(), staList.size()); i++) {
+ Sta stockSta = staList.get(i);
- Loc idleLoc = null;
+ Loc idleLoc = getLocByLocSts(LocStsType.IDLE.val(), codes);
- // 鎵�鍦ㄥ尯鍩熺殑鏉＄爜锛屽鏋滄病鏈塧rea缁戝畾锛屽氨鍏ㄥ湴鍥�
- List<String> codeList = areaGovernService.queryCodesByOneCode(staCode);
- if (Cools.isEmpty(codeList)) {
- idleLoc = locService.selectRandOneByLocSts(LocStsType.IDLE.val(), 1);
- } else {
- Collections.shuffle(codeList);
- for (String codeData : codeList) {
- Code code = codeService.getCacheByData(codeData);
- if (null == code) { break; }
- List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
- .eq(Loc::getCode, code.getId()).eq(Loc::getLocSts, LocStsType.IDLE.val()));
- if (Cools.isEmpty(locList)) {
- break;
- } else if (locList.size() == 1) {
- idleLoc = locList.get(0);
- } else {
- Collections.shuffle(locList);
- idleLoc = locList.get(0);
- }
- if (null != idleLoc) {
- break;
- }
- }
+ if (null == idleLoc) {
+ break;
}
-
- if (null == idleLoc) { break; }
TaskDto taskDto = new TaskDto();
taskDto.setOriSta(stockSta.getStaNo());
@@ -128,53 +139,43 @@
param.getTasks().add(taskDto);
}
- if (Cools.isEmpty(param.getTasks())) { return; }
+ if (Cools.isEmpty(param.getTasks())) {
+ return;
+ }
mainService.generateBusAndTask(param, memo);
}
// 鍑哄簱
- private void runLocToSta(AgvModel agvModel, String memo) {
+ private void runLocToSta(AgvModel agvModel, List<String> codes, String memo) {
// IDLE STA
List<Sta> idleList = staService.queryAvailableInSta(1);
- if (Cools.isEmpty(idleList)) { return; }
- Collections.shuffle(idleList);
+ List<Sta> staList = new ArrayList<>();
+ for (Sta sta : idleList) {
+ if (sta.getCode$() != null && codes.contains(sta.getCode$())) {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getOriSta, sta.getCode()).or().eq(Task::getDestSta, sta.getCode()));
+ if ((sta.getCapacity() - sta.getRsvOutCnt()) > (list.isEmpty() ? 0 : list.size())) {
+ staList.add(sta);
+ }
+ }
+ }
+ if (Cools.isEmpty(staList)) {
+ return;
+ }
+ Collections.shuffle(staList);
OpenBusSubmitParam param = new OpenBusSubmitParam();
param.setBatchNo(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
- for (int i = 0; i < Math.min(agvModel.getBackpack(), idleList.size()) ; i++) {
- Sta idleSta = idleList.get(i);
- String staCode = codeService.getCacheById(idleSta.getCode()).getData();
+ for (int i = 0; i < Math.min(agvModel.getBackpack(), staList.size()); i++) {
+ Sta idleSta = staList.get(i);
- Loc stockLoc = null;
+ Loc stockLoc = getLocByLocSts(LocStsType.STOCK.val(), codes);
- // 鎵�鍦ㄥ尯鍩熺殑鏉＄爜锛屽鏋滄病鏈塧rea缁戝畾锛屽氨鍏ㄥ湴鍥�
- List<String> codeList = areaGovernService.queryCodesByOneCode(staCode);
- if (Cools.isEmpty(codeList)) {
- stockLoc = locService.selectRandOneByLocSts(LocStsType.STOCK.val(), 1);
- } else {
- Collections.shuffle(codeList);
- for (String codeData : codeList) {
- Code code = codeService.getCacheByData(codeData);
- if (null == code) { break; }
- List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
- .eq(Loc::getCode, code.getId()).eq(Loc::getLocSts, LocStsType.STOCK.val()));
- if (Cools.isEmpty(locList)) {
- break;
- } else if (locList.size() == 1) {
- stockLoc = locList.get(0);
- } else {
- Collections.shuffle(locList);
- stockLoc = locList.get(0);
- }
- if (null != stockLoc) {
- break;
- }
- }
+
+ if (null == stockLoc) {
+ break;
}
-
- if (null == stockLoc) { break; }
TaskDto taskDto = new TaskDto();
taskDto.setOriLoc(stockLoc.getLocNo());
@@ -184,13 +185,15 @@
param.getTasks().add(taskDto);
}
- if (Cools.isEmpty(param.getTasks())) { return; }
+ if (Cools.isEmpty(param.getTasks())) {
+ return;
+ }
mainService.generateBusAndTask(param, memo);
}
// 绉诲簱
- private void runLocToLoc(AgvModel agvModel, String staTaskMemo) {
+ private void runLocToLoc(AgvModel agvModel, List<String> codes, String staTaskMemo) {
String memo = "DEMO_LOC";
int availableAgvCount = this.getAvailableAgvCount();
@@ -199,19 +202,21 @@
if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
.in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
.in(Bus::getMemo, memo, staTaskMemo)
- )) { return; }
+ )) {
+ return;
+ }
int maxCapacity = agvModel.getBackpack();
// STOCK
- List<Loc> stockLocList = locService.selectRandByLocSts(LocStsType.STOCK.val(), maxCapacity);
+ List<Loc> stockLocList = getAllLocByLocSts(LocStsType.STOCK.val(), codes);
if (Cools.isEmpty(stockLocList)) {
return;
}
Collections.shuffle(stockLocList);
// IDLE
- List<Loc> idleLocList = locService.selectRandByLocSts(LocStsType.IDLE.val(), maxCapacity);
+ List<Loc> idleLocList = getAllLocByLocSts(LocStsType.IDLE.val(), codes);
if (Cools.isEmpty(idleLocList)) {
return;
}
@@ -230,9 +235,63 @@
param.getTasks().add(taskDto);
}
- if (Cools.isEmpty(param.getTasks())) { return; }
+ if (Cools.isEmpty(param.getTasks())) {
+ return;
+ }
mainService.generateBusAndTask(param, memo);
+ }
+
+
+ public Loc getLocByLocSts(Long locSts, List<String> codes) {
+ List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
+ Collections.shuffle(list);
+ for (Loc loc : list) {
+ if (codes.contains(loc.getCode$())) {
+ return loc;
+ }
+ }
+ return null;
+ }
+
+ public List<Loc> getAllLocByLocSts(Long locSts, List<String> codes) {
+ List<Loc> data = new ArrayList<>();
+ List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, locSts));
+ Collections.shuffle(list);
+ for (Loc loc : list) {
+ if (codes.contains(loc.getCode$())) {
+ data.add(loc);
+ }
+ }
+ return data;
+ }
+
+
+ public List<String> getTestAreaCodes() {
+ String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
+ if (Cools.isEmpty(taskAssignModeArea)) {
+ List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
+ return list.stream().map(Code::getData).collect(Collectors.toList());
+ }
+ List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
+ if (list.isEmpty()) {
+ return Collections.emptyList();
+ }
+ return areaGovernService.queryCodes(list.stream().map(Area::getId).collect(Collectors.toList()));
+ }
+
+ public List<Long> getTestAreaAgvs() {
+ String taskAssignModeArea = configService.getVal("TaskAssignModeArea", String.class);
+ if (Cools.isEmpty(taskAssignModeArea)) {
+ List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
+ return list.stream().map(Agv::getId).collect(Collectors.toList());
+ }
+ List<Area> list = areaService.list(new LambdaQueryWrapper<Area>().eq(Area::getName, taskAssignModeArea));
+ if (list.isEmpty()) {
+ return Collections.emptyList();
+ }
+ List<AreaAgv> list1 = areaAgvService.list(new LambdaQueryWrapper<AreaAgv>().in(AreaAgv::getAreaId, list.stream().map(Area::getId).collect(Collectors.toList())));
+ return list1.stream().map(AreaAgv::getAgvId).collect(Collectors.toList());
}
public static List<String> getStaPrefixes(List<String> staGroupList) {
@@ -247,12 +306,11 @@
private int getAvailableAgvCount() {
int res = 0;
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- if (Cools.isEmpty(agvList)) {
- return res;
- }
- for (Agv agv : agvList) {
- if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agv.getUuid())) {
+ List<Long> testAreaAgvs = getTestAreaAgvs();
+ for (Long agvId : testAreaAgvs) {
+ String agvNo = agvService.getAgvNo(agvId);
+ Agv agv = agvService.selectByUuid(agvNo);
+ if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
continue;
}
if (!agv.getStatusBool()) {
--
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