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 | 228 +++++++++++++++++++++++++++-----------------------------
1 files changed, 111 insertions(+), 117 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 c62fe74..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
@@ -2,8 +2,10 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.common.utils.LocUtils;
+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.*;
import com.zy.acs.manager.manager.enums.StatusType;
import com.zy.acs.manager.manager.enums.TaskStsType;
@@ -42,16 +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())
@@ -62,13 +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;
@@ -84,25 +106,23 @@
* 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)) {
- log.warn("No available agv to assign the task[{}]", task.getSeqNum());
+ 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);
if (null != originLane) {
List<String> agvNosByOriLane = findAgvNosByLane(originLane); // the agv list that had tasks in this lane
- if (!Cools.isEmpty(agvNosByOriLane) && agvNosByOriLane.size() >= maxAgvCountInLane) {
+ // if full lane
+ if (agvNosByOriLane.size() >= maxAgvCountInLane) {
availableAgvNosByOriLane = Cools.getIntersection(agvNosByOriLane, availableAgvNos);
}
@@ -115,7 +135,7 @@
List<String> availableAgvNosByDestLane = new ArrayList<>(availableAgvNos);
if (null != destinationLane) {
List<String> agvNosByDestLane = findAgvNosByLane(destinationLane);
- if (!Cools.isEmpty(agvNosByDestLane) && agvNosByDestLane.size() >= maxAgvCountInLane) {
+ if (agvNosByDestLane.size() >= maxAgvCountInLane) {
availableAgvNosByDestLane = Cools.getIntersection(agvNosByDestLane, availableAgvNos);
}
@@ -131,7 +151,6 @@
log.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
return null;
}
-
List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
if (Cools.isEmpty(actualAvailableAgvNos)) {
log.warn("No available agv to assign the task[{}]", task.getSeqNum());
@@ -157,17 +176,18 @@
return agvService.selectByUuid(actualAvailableAgvNos.stream().findFirst().orElse(null));
}
- private List<String> findAgvNosByLane(Lane lane) {
+ public List<String> findAgvNosByLane(Lane lane) {
if (null == lane) {
- return null;
+ return new ArrayList<>();
}
List<Task> taskList = taskService.findRunningTasksByLaneHash(lane.getHashCode());
if (Cools.isEmpty(taskList)) {
- return null;
+ return new ArrayList<>();
}
- return taskList.stream().map(task -> {
- return agvService.getById(task.getAgvId()).getUuid();
- }).distinct().collect(Collectors.toList());
+ return taskList.stream()
+ .map(task -> agvService.getById(task.getAgvId()).getUuid())
+ .distinct()
+ .collect(Collectors.toList());
}
private List<String> validBackpackLimit(List<String> agvNoList) {
@@ -175,28 +195,28 @@
return new ArrayList<>();
}
return agvNoList.stream().filter(agvNo -> {
- Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
- return runningTasks.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());
}
// calculate wight = backpack + distance
private int calcAllocateWeight(String agvNo, Task task) {
int weight = 0;
- Agv agv = agvService.selectByUuid(agvNo);
+ Long agvId = agvService.getAgvId(agvNo);
// backpack
- List<Task> runningTasks = taskService.findRunningTasksByAgv(agv.getId());
- if (!Cools.isEmpty(runningTasks)) {
- weight = weight + runningTasks.size() * 100000;
+ Integer transportTasksCount = taskService.findTransportTasksCountByAgv(agvId);
+ if (!Cools.isEmpty(transportTasksCount)) {
+ weight = weight + transportTasksCount * 100000;
}
// distance
// from
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
- Code agvCurrCode = codeService.getById(agvDetail.getRecentCode());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
+ Code agvCurrCode = codeService.getCacheById(agvDetail.getRecentCode());
Double[] fromPosition = new Double[]{agvCurrCode.getX(), agvCurrCode.getY()};
// to
Code firstCode = null;
@@ -205,118 +225,92 @@
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;
Double[] toPosition = new Double[]{firstCode.getX(), firstCode.getY()};
// calculate distance
- weight = weight + this.calcPositionDistance(fromPosition, toPosition);
+ weight = weight + CommonUtil.calcDistance(fromPosition, toPosition);
// return opposite
return -weight;
}
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
+ 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(agvNo);
+ if (agvNosByLane.size() >= maxAgvCountInLane) {
+ return false;
+ }
+ }
+
+ return true;
}
- public synchronized Agv execute(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
- String oriLocNo = task.getOriLoc$();
- int oriLocRow = LocUtils.getRow(oriLocNo);
- String destLocNo = task.getDestLoc$();
- int destLocRow = LocUtils.getRow(destLocNo);
- Agv hit = null;
+ // The Permutations and combinations for task
- List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
- Collections.shuffle(agvList);
- for (Agv agv : agvList) {
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- int allotTaskCount = 0;
- List<Long> allotTaskIds = taskAllot.get(agv.getUuid());
- if (!Cools.isEmpty(allotTaskIds)) {
- allotTaskCount = allotTaskIds.size();
- }
- if (allotTaskCount >= agvModel.getBackpack()) {
- continue;
- }
- if (taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .notIn(Task::getId, taskIds)
- .and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 宸茬粡鏈墂aiting浠诲姟鐨勮溅涓嶈兘鍐嶅垎閰�
- .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
- continue;
- }
- if (!agvService.judgeEnable(agv.getId(), true)) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
- continue;
+ 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);
}
- hit = agv;
- break;
+ } 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);
+ }
+ }
}
- return hit;
- }
-
- public synchronized Agv execute1(Task task, Map<String, List<Long>> taskAllot, List<Long> taskIds) {
- String oriLocNo = task.getOriLoc$();
- int oriLocRow = LocUtils.getRow(oriLocNo);
- String destLocNo = task.getDestLoc$();
- int destLocRow = LocUtils.getRow(destLocNo);
-
- Agv agv = null;
- if (oriLocRow <= 2 && destLocRow <= 2) {
- agv = agvService.selectByUuid(String.valueOf(1));
- }
- if (oriLocRow > 2 && destLocRow > 2) {
- agv = agvService.selectByUuid(String.valueOf(2));
- }
- assert agv != null;
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- int allotTaskCount = 0;
- List<Long> allotTaskIds = taskAllot.get(agv.getUuid());
- if (!Cools.isEmpty(allotTaskIds)) {
- allotTaskCount = allotTaskIds.size();
- }
- if (allotTaskCount >= agvModel.getBackpack()) {
- return null;
- }
- if (taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getAgvId, agv.getId())
- .notIn(Task::getId, taskIds)
- .and(i -> {
- i.eq(Task::getTaskSts, TaskStsType.WAITING.val()) // 宸茬粡鏈墂aiting浠诲姟鐨勮溅涓嶈兘鍐嶅垎閰�
- .or().eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
- .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
- })) > 0) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝宸茬粡瀛樺湪杩涜涓殑浠诲姟...");
- return null;
- }
- if (!agvService.judgeEnable(agv.getId(), true)) {
- log.info(agv.getUuid() + "鍙稟GV涓嶅彲鐢紝" + task.getSeqNum() + "浠诲姟鏃犳硶璁＄畻...");
- return null;
- }
-
- return agv;
+ theLastOne = list.get(list.size() - 1);
+ return theLastOne.get(theLastOne.size() - 1).getXy();
}
}
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