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/service/AllocateService.java | 70 ++++++++++++++++++++++-------------
1 files changed, 44 insertions(+), 26 deletions(-)
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 b389fe9..7204350 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
@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.CommonUtil;
+import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.manager.entity.*;
@@ -43,16 +44,33 @@
private LocService locService;
@Autowired
private LaneService laneService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
/**
* get available agv list which is idle
*/
- private List<Agv> getAvailableAgv() {
- List<Agv> result = new ArrayList<>();
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- Collections.shuffle(agvList);
- for (Agv agv : agvList) {
+ private List<String> getAvailableAgvNos(List<String> agvNos) {
+// List<Agv> agvList = new ArrayList<>();
+// if (Cools.isEmpty(agvNos)) {
+// // global
+// agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+// } else {
+// // local
+// for (String agvNo : agvNos) {
+// Agv agv = agvService.selectByUuid(agvNo);
+// if (agv.getStatusBool()) {
+// agvList.add(agv);
+// }
+// }
+// }
+ List<Agv> agvList = Cools.isEmpty(agvNos)
+ ? agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val))
+ : agvNos.stream().map(agvService::selectByUuid).filter(Agv::getStatusBool).collect(Collectors.toList());
+
+ List<String> result = new ArrayList<>();
+ for (Agv agv : agvList) {
// 1. without running tasks
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
.eq(Task::getAgvId, agv.getId())
@@ -63,13 +81,16 @@
)) {
continue;
}
-
// 2. in idle status
if (!agvService.judgeEnable(agv.getId(), true)) {
continue;
}
- result.add(agv);
+ result.add(agv.getUuid());
+ }
+
+ if (!Cools.isEmpty(result)) {
+ Collections.shuffle(result);
}
return result;
@@ -85,19 +106,16 @@
* it can break the limit of the number of agv backpack
*/
public synchronized Agv execute(Task task) {
- List<Agv> availableAgvList = getAvailableAgv();
- if (Cools.isEmpty(availableAgvList)) {
+ List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvNosByTask(task));
+ if (Cools.isEmpty(availableAgvNos)) {
// log.warn("No available agv to assign the task[{}]", task.getSeqNum());
return null;
}
- List<String> availableAgvNos = availableAgvList.stream().map(Agv::getUuid).distinct().collect(Collectors.toList());
-
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
// checkout lane
Lane originLane = taskService.checkoutOriginLane(task);
Lane destinationLane = taskService.checkoutDestinationLane(task);
-
// allocate about origin
List<String> availableAgvNosByOriLane = new ArrayList<>(availableAgvNos);
@@ -177,10 +195,10 @@
return new ArrayList<>();
}
return agvNoList.stream().filter(agvNo -> {
- Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- List<Task> transportTasks = taskService.findTransportTasksByAgv(agv.getId());
- return transportTasks.size() < agvModel.getBackpack();
+ Long agvId = agvService.getAgvId(agvNo);
+ int transportTasksCount = taskService.findTransportTasksCountByAgv(agvId);
+ AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
+ return transportTasksCount < agvModel.getBackpack();
}).collect(Collectors.toList());
}
@@ -190,15 +208,15 @@
Long agvId = agvService.getAgvId(agvNo);
// backpack
- List<Task> transportTasks = taskService.findTransportTasksByAgv(agvId);
- if (!Cools.isEmpty(transportTasks)) {
- weight = weight + transportTasks.size() * 100000;
+ Integer transportTasksCount = taskService.findTransportTasksCountByAgv(agvId);
+ if (!Cools.isEmpty(transportTasksCount)) {
+ weight = weight + transportTasksCount * 100000;
}
// distance
// from
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
- Code agvCurrCode = codeService.getById(agvDetail.getRecentCode());
+ Code agvCurrCode = codeService.getCacheById(agvDetail.getRecentCode());
Double[] fromPosition = new Double[]{agvCurrCode.getX(), agvCurrCode.getY()};
// to
Code firstCode = null;
@@ -207,20 +225,20 @@
case LOC_TO_LOC:
case LOC_TO_STA:
Loc oriLoc = locService.getById(task.getOriLoc());
- firstCode = codeService.getById(oriLoc.getCode());
+ firstCode = codeService.getCacheById(oriLoc.getCode());
break;
case STA_TO_LOC:
case STA_TO_STA:
Sta oriSta = staService.getById(task.getOriSta());
- firstCode = codeService.getById(oriSta.getCode());
+ firstCode = codeService.getCacheById(oriSta.getCode());
break;
case TO_CHARGE:
case TO_STANDBY:
case MOVE:
- firstCode = codeService.getById(task.getDestCode());
+ firstCode = codeService.getCacheById(task.getDestCode());
break;
default:
- firstCode = codeService.getById(task.getDestCode());
+ firstCode = codeService.getCacheById(task.getDestCode());
break;
}
assert null != firstCode;
@@ -232,13 +250,13 @@
return -weight;
}
- public Boolean validCapacityOfLane(Agv agv, Code code) {
+ public Boolean validCapacityOfLane(String agvNo, Code code) {
Lane lane = laneService.search(code.getData());
if (null != lane) {
Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
List<String> agvNosByLane = this.findAgvNosByLane(lane);
- agvNosByLane.remove(agv.getUuid());
+ agvNosByLane.remove(agvNo);
if (agvNosByLane.size() >= maxAgvCountInLane) {
return false;
}
--
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