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/PatrolService.java | 199 ++++++++++++++++++++++++++++++++++++-------------
1 files changed, 147 insertions(+), 52 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 f2cc9ea..2fdaf0b 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
@@ -2,10 +2,17 @@
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.*;
+import com.zy.acs.manager.core.constant.AgvAreaDispatcher;
+import com.zy.acs.manager.core.cache.CoreCache;
+import com.zy.acs.manager.core.domain.CodeStepDto;
+import com.zy.acs.manager.core.domain.type.JobType;
+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.Travel;
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.enums.TravelStateType;
import com.zy.acs.manager.manager.service.*;
@@ -16,11 +23,9 @@
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
@@ -36,6 +41,18 @@
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
private ScheduledExecutorService scheduler = null;
+
+ private List<String> CODE_DATA_CACHE = new ArrayList<>();
+
+ private List<String> LOC_CODE_DATA_CACHE = new ArrayList<>();
+
+ private List<String> CONVEYOR_DROP_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000048");
+ }};
+
+ private List<String> CONVEYOR_PICK_CODE_DATA_CACHE = new ArrayList<String>(){{
+ add("00000146");
+ }};
@Autowired
private AgvService agvService;
@@ -55,6 +72,94 @@
private AllocateService allocateService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private AgvModelService agvModelService;
+
+ // pick & drop logic --------------------------------------------------
+
+ private void executeUShapeConveyor(String agvNo) {
+ 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(agvId)) {
+ return;
+ }
+
+ JobType jobType = CoreCache.AGV_MOCK_JOB_CACHE.get(agvNo);
+ if (null == jobType) {
+ CoreCache.AGV_MOCK_JOB_CACHE.put(agvNo, JobType.LOC_PICK);
+ CoreCache.AGV_BACKPACK_USED_CACHE.put(agvId, 0);
+ jobType = JobType.LOC_PICK;
+ }
+
+ String destinationCodeData = null;
+ switch (jobType) {
+ case LOC_PICK:
+ // 5, 4, 3, 2, 1
+ int locPickRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (0 < locPickRemaining) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ case CONVEYOR_DROP:
+ destinationCodeData = this.getConveyorDropCode(agvNo);
+ break;
+ case CONVEYOR_PICK:
+ destinationCodeData = this.getConveyorPickCode(agvNo);
+ break;
+ case LOCK_DROP:
+ // 0, 1, 2, 3, 4
+ int locDropRemaining = agvService.getBackpackRemainingCapacity(agvId);
+ if (locDropRemaining < agvModelService.getByAgvId(agvId).getBackpack()) {
+ destinationCodeData = this.getLocCode(agvNo, null);
+ }
+ break;
+ default:
+ log.warn("AGV {}: 鏈煡闃舵: {}", agvNo, jobType);
+ break;
+ }
+ if (Cools.isEmpty(destinationCodeData)) {
+ return;
+ }
+
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info( "{}寮�濮嬩綔涓氭紨绀�...", agvNo);
+
+ CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
+ }
+ }
+
+ public String getLocCode(String agvNo, AgvDetail agvDetail) {
+ if (LOC_CODE_DATA_CACHE.isEmpty()) {
+ return null;
+ }
+ Collections.shuffle(LOC_CODE_DATA_CACHE);
+ for (String locCodeData : LOC_CODE_DATA_CACHE) {
+ Code locCode = codeService.getCacheByData(locCodeData);
+
+ // valid lane
+ if (!allocateService.validCapacityOfLane(agvNo, locCode)) {
+ continue;
+ }
+
+ return locCodeData;
+ }
+ return LOC_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorDropCode(String agvNo) {
+ return CONVEYOR_DROP_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+ public String getConveyorPickCode(String agvNo) {
+ return CONVEYOR_PICK_CODE_DATA_CACHE.stream().findFirst().orElse(null);
+ }
+
+
+ // pure move logic --------------------------------------------------
private void executePatrolLogic(String agvNo) {
this.patrolOfMove(agvNo);
@@ -67,65 +172,44 @@
.eq(Travel::getState, TravelStateType.RUNNING.toString()))) {
return;
}
-// if (taskService.count(new LambdaQueryWrapper<Task>()
-// .eq(Task::getAgvId, agvId)
-// .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
-// ) > 0) {
-// return;
-// }
if (!agvService.judgeEnable(agvId)) {
return;
}
AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agvId);
- Code destinationCode = this.getDestinationCode(agvNo, agvDetail);
- if (null == destinationCode) {
+ String destinationCodeData = this.getDestinationCode(agvNo, agvDetail);
+ if (Cools.isEmpty(destinationCodeData)) {
return;
}
- if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCode.getData(), null)) {
- log.info(agvNo + "寮�濮嬭蛋琛屾紨绀�...");
+ if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
+ log.info( "{}寮�濮嬭蛋琛屾紨绀�...", agvNo);
}
}
/**
* 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��
* agv鍦板浘鍥炬爣鍙樺寲
*/
- public Code getDestinationCode(String agvNo, 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("00000301");
- notInCodeList.add("00000302");
- notInCodeList.add("00000303");
- notInCodeList.add("00000351");
- notInCodeList.add("00000353");
- notInCodeList.add("00000401");
- notInCodeList.add("00000402");
+ List<String> codeList = AgvAreaDispatcher.AGV_AREA.get(agvNo);
+ List<String> disableCodeList = AgvAreaDispatcher.AGV_DISABLE_AREA.get(agvNo);
+ if (!Cools.isEmpty(codeList)) {
+ Collections.shuffle(codeList);
+ }
- notInCodeList.add("00000311");
- notInCodeList.add("00000312");
- notInCodeList.add("00000313");
- notInCodeList.add("00000361");
- notInCodeList.add("00000363");
- notInCodeList.add("00000411");
- notInCodeList.add("00000412");
+ for (String endCodeData : codeList) {
+ if (disableCodeList.contains(endCodeData)) { continue; }
+ Code endCode = codeService.getCacheByData(endCodeData);
- notInCodeList.add("00000046");
- notInCodeList.add("00000047");
- List<Code> list = codeService.list(new LambdaQueryWrapper<Code>().notIn(Code::getData, notInCodeList));
-
- Collections.shuffle(list);
-
- for (Code endCode : list) {
// valid lane
if (!allocateService.validCapacityOfLane(agvNo, endCode)) {
continue;
@@ -134,13 +218,12 @@
// 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 codeList.stream().findFirst().orElse(null);
}
-
// ---------------------------------------------------------------------------
@@ -160,21 +243,22 @@
Runnable patrolTask = () -> {
try {
executePatrolLogic(agvNo);
+// executeUShapeConveyor(agvNo);
} catch (Exception e) {
- log.error("鎵цAGV " + agvNo + " 璺戝簱浠诲姟鏃跺彂鐢熷紓甯�: " + e.getMessage());
- e.printStackTrace();
+ log.error("鎵цAGV{}璺戝簱浠诲姟鏃跺彂鐢熷紓甯�", agvNo, e);
}
};
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°��");
+ log.info("宸插惎鍔ˋGV{}鐨勮窇搴撲换鍔°��", agvNo);
return R.ok();
}
public R shutdownPatrol(String agvNo) {
+ Long agvId = agvService.getAgvId(agvNo);
ScheduledFuture<?> scheduledFuture = AGV_PATROL_MAP.get(agvNo);
if (scheduledFuture == null) {
return R.error("AGV " + agvNo + " 娌℃湁姝ｅ湪杩愯鐨勮窇搴撲换鍔°��");
@@ -183,7 +267,10 @@
boolean cancelled = scheduledFuture.cancel(true);
if (cancelled) {
AGV_PATROL_MAP.remove(agvNo);
- log.info("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
+ CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
+ CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
+ CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
+ log.info("宸插仠姝GV {} 鐨勮窇搴撲换鍔°��", agvNo);
return R.ok("宸插仠姝GV " + agvNo + " 鐨勮窇搴撲换鍔°��");
} else {
log.error("鏈兘鎴愬姛鍋滄AGV " + agvNo + " 鐨勮窇搴撲换鍔°��");
@@ -197,6 +284,14 @@
if (count > 0) {
this.scheduler = Executors.newScheduledThreadPool(count);
}
+ // init all code data
+ 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());
+
+ // int all loc code data
+ List<Code> locCodeList = codeService.getAllLocCode();
+ this.LOC_CODE_DATA_CACHE = locCodeList.stream().map(Code::getData).distinct().collect(Collectors.toList());
+
}
@PreDestroy
--
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