From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java | 209 +++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 181 insertions(+), 28 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
index 9749974..15f7cbf 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java
@@ -1,21 +1,20 @@
package com.zy.acs.manager.core.scheduler;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.core.constant.AgvGroupConstant;
import com.zy.acs.manager.core.constant.LocGroupConstant;
+import com.zy.acs.manager.core.constant.StaGroupConstant;
import com.zy.acs.manager.core.service.MainLockWrapService;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.core.service.TrafficService;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
-import com.zy.acs.manager.manager.entity.AgvModel;
-import com.zy.acs.manager.manager.entity.Bus;
-import com.zy.acs.manager.manager.entity.Loc;
-import com.zy.acs.manager.manager.enums.AgvModelType;
-import com.zy.acs.manager.manager.enums.BusStsType;
-import com.zy.acs.manager.manager.enums.LocStsType;
+import com.zy.acs.manager.manager.entity.*;
+import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -23,12 +22,13 @@
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
@Slf4j
@Component
public class AutoRunScheduler {
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@Autowired
private AgvService agvService;
@@ -51,36 +51,168 @@
@Autowired
private LocService locService;
@Autowired
+ private StaService staService;
+ @Autowired
private AgvModelService agvModelService;
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
-
// @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 autoLocToLoc() {
+ private void execute() {
if (!configService.getVal("TaskAssignMode", Boolean.class)) { return; }
- this.runLocToLoc(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
- this.runLocToLoc(LocGroupConstant.LEFT_LOC_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
- this.runLocToLoc(LocGroupConstant.MIDDLE_LOC_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
- this.runLocToLoc(LocGroupConstant.RIGHT_LOC_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
- this.runLocToLoc(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
+ String autoRunAreas = configService.getVal("autoRunAreas", String.class);
+ if (Cools.isEmpty(autoRunAreas)) { return; }
+ for (char c : autoRunAreas.toCharArray()) {
+ switch (c) {
+ case '1':
+ this.autoRun(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST, StaGroupConstant.FAR_RIGHT_STA_ROW_LIST, AgvGroupConstant.FIFTH_AGV_GROUP);
+ break;
+ case '2':
+ this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP);
+ break;
+ case '3':
+ this.autoRun(LocGroupConstant.MIDDLE_LOC_ROW_LIST, StaGroupConstant.MIDDLE_STA_ROW_LIST, AgvGroupConstant.THIRD_AGV_GROUP);
+ break;
+ case '4':
+ this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
+ break;
+ case '5':
+ this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
+ break;
+ default:
+ break;
+ }
+ }
}
- private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList) {
+ private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
+ int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
+ if (0 == availableAgvCount) { return; }
+
+ List<String> staPreNos = getStaPrefixes(staGroupList);
+ String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);
+
+ // 鍏ュ簱
+ this.runStaToLoc(locGroupList, staGroupList, staTaskMemo);
+ // 鍑哄簱
+ this.runLocToSta(locGroupList, staGroupList, staTaskMemo);
+
+ // 绉诲簱
+ this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
+ }
+
+ // 鍏ュ簱
+ private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo) {
Integer startRow = Collections.min(locGroupList);
Integer endRow = Collections.max(locGroupList);
- String memo = "DEMO_" + startRow + "-" + endRow;
- int agvCount = agvGroupList.size();
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) {
+ return;
+ }
+
+ // STOCK
+ LambdaQueryWrapper<Sta> stockWrapper = new LambdaQueryWrapper<Sta>()
+ .eq(Sta::getStaSts, StaStsType.STOCK.val())
+ .eq(Sta::getStatus, StatusType.ENABLE.val)
+ .in(Sta::getStaNo, staGroupList);
+ List<Sta> stockList = staService.list(stockWrapper);
+ if (Cools.isEmpty(stockList)) { return; }
+ Collections.shuffle(stockList);
+
+ // IDLE
+ LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
+ if (null != startRow) { idleWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { idleWrapper.le(Loc::getRow, endRow); }
+ List<Loc> idleList = locService.list(idleWrapper);
+ if (Cools.isEmpty(idleList)) { return; }
+ Collections.shuffle(idleList);
+
+ OpenBusSubmitParam param = new OpenBusSubmitParam();
+ param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
+ for (int i = 0; i < Math.min(agvModel.getBackpack(), Math.min(stockList.size(), idleList.size())) ; i++) {
+ Sta stockSta = stockList.get(i);
+ Loc idleLoc = idleList.get(i);
+
+ TaskDto taskDto = new TaskDto();
+ taskDto.setOriSta(stockSta.getStaNo());
+ taskDto.setDestLoc(idleLoc.getLocNo());
+ taskDto.setPriority(100);
+ taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
+
+ param.getTaskList().add(taskDto);
+ }
+
+ mainService.generateBusAndTask(param, memo);
+ }
+
+ // 鍑哄簱
+ private void runLocToSta(List<Integer> locGroupList, List<String> staGroupList, String memo) {
+ Integer startRow = Collections.min(locGroupList);
+ Integer endRow = Collections.max(locGroupList);
+
+ AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
+ if (null == agvModel) {
+ return;
+ }
+ int maxCapacity = agvModel.getBackpack();
+
+ // STA IDLE
+ LambdaQueryWrapper<Sta> idleWrapper = new LambdaQueryWrapper<Sta>()
+ .eq(Sta::getStaSts, StaStsType.IDLE.val())
+ .eq(Sta::getStatus, StatusType.ENABLE.val)
+ .in(Sta::getStaNo, staGroupList);
+ List<Sta> idleList = staService.list(idleWrapper);
+ if (Cools.isEmpty(idleList)) {
+ return;
+ }
+ Collections.shuffle(idleList);
+
+ // LOC STOCK
+ LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
+ if (null != startRow) { stockWrapper.ge(Loc::getRow, startRow); }
+ if (null != endRow) { stockWrapper.le(Loc::getRow, endRow); }
+ List<Loc> stockList = locService.list(stockWrapper);
+ if (Cools.isEmpty(stockList)) {
+ return;
+ }
+ Collections.shuffle(stockList);
+
+ OpenBusSubmitParam param = new OpenBusSubmitParam();
+ param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
+ for (int i = 0; i < Math.min(maxCapacity, Math.min(idleList.size(), stockList.size())); i++) {
+ Loc stockLoc = stockList.get(i);
+ Sta idleSta = idleList.get(i);
+
+ TaskDto taskDto = new TaskDto();
+ taskDto.setOriLoc(stockLoc.getLocNo());
+ taskDto.setDestSta(idleSta.getStaNo());
+ taskDto.setPriority(100);
+ taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(15, 19));
+
+ param.getTaskList().add(taskDto);
+ }
+
+ mainService.generateBusAndTask(param, memo);
+ }
+
+ // 绉诲簱
+ private void runLocToLoc(List<Integer> locGroupList, List<String> agvGroupList, String staTaskMemo) {
+ Integer startRow = Collections.min(locGroupList);
+ Integer endRow = Collections.max(locGroupList);
+
+ String memo = "DEMO_LOC_" + startRow + "-" + endRow;
+
+ int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
// 鏈�澶� ? 缁刡us杩愯
- if (agvCount <= busService.count(new LambdaQueryWrapper<Bus>()
+ if (availableAgvCount <= busService.count(new LambdaQueryWrapper<Bus>()
.in(Bus::getBusSts, BusStsType.RECEIVE.val(), BusStsType.PROGRESS.val())
- .eq(Bus::getMemo, memo)
+ .in(Bus::getMemo, memo, staTaskMemo)
)) {
return;
}
@@ -100,10 +232,6 @@
return;
}
Collections.shuffle(stockList);
- if (stockList.size() > maxCapacity) {
- stockList = stockList.subList(0, maxCapacity);
- }
- int numOfStockLocList = stockList.size();
// IDLE
LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
@@ -114,13 +242,10 @@
return;
}
Collections.shuffle(idleList);
- if (idleList.size() > numOfStockLocList) {
- idleList = idleList.subList(0, numOfStockLocList);
- }
OpenBusSubmitParam param = new OpenBusSubmitParam();
param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
- for (int i = 0; i < numOfStockLocList; i++) {
+ for (int i = 0; i < Math.min(maxCapacity, Math.min(stockList.size(), idleList.size())); i++) {
Loc stockLoc = stockList.get(i);
Loc idleLoc = idleList.get(i);
@@ -135,5 +260,33 @@
mainService.generateBusAndTask(param, memo);
}
+ public static List<String> getStaPrefixes(List<String> staGroupList) {
+ Set<String> rowSet = new HashSet<>();
+ for (String s : staGroupList) {
+ rowSet.add(s.split("-")[0]);
+ }
+ List<String> result = new ArrayList<>(rowSet);
+ result.sort(Comparator.comparingInt(Integer::parseInt));
+ return result;
+ }
+
+ private int getAvailableAgvCount(List<String> agvNos) {
+ int res = 0;
+ if (Cools.isEmpty(agvNos)) {
+ return res;
+ }
+ for (String agvNo : agvNos) {
+ if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
+ continue;
+ }
+ Agv agv = agvService.selectByUuid(agvNo);
+ if (!agv.getStatusBool()) {
+ continue;
+ }
+ res++;
+ }
+
+ return res;
+ }
}
--
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