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/manager/service/impl/FuncStaServiceImpl.java | 169 ++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 144 insertions(+), 25 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
index 0c7b1ed..b5c2bf0 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java
@@ -4,6 +4,8 @@
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.acs.common.enums.AgvStatusType;
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.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.StatusType;
@@ -14,10 +16,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.Comparator;
-import java.util.List;
+import java.util.*;
import java.util.stream.Collectors;
@Service("funcStaService")
@@ -33,6 +32,8 @@
private AgvModelService agvModelService;
@Autowired
private TaskService taskService;
+ @Autowired
+ private AgvAreaDispatcher agvAreaDispatcher;
@Override
public FuncSta getByCodeAndType(Long codeId, String type) {
@@ -44,9 +45,8 @@
}
@Override
- public FuncSta query(Long agvId, Long codeId, String type) {
+ public FuncSta query(Long codeId, String type) {
List<FuncSta> list = this.list(new LambdaQueryWrapper<FuncSta>()
- .eq(FuncSta::getAgvId, agvId)
.eq(FuncSta::getCode, codeId)
.eq(FuncSta::getType, type)
);
@@ -63,7 +63,22 @@
return new ArrayList<>();
}
- Collections.shuffle(funcStaList);
+ // area limit
+ List<String> areaCodeList = agvAreaDispatcher.getAreaCodeListByAgvNo(agvService.getAgvNo(agvId));
+ if (Cools.isEmpty(areaCodeList)) {
+ funcStaList.clear();
+ } else {
+ funcStaList.removeIf(funcSta -> {
+ Code code = codeService.getCacheById(funcSta.getCode());
+ if (Cools.isEmpty(code, code.getData())) { return true; }
+ return !areaCodeList.contains(code.getData());
+ });
+ }
+
+ if (!Cools.isEmpty(funcStaList)) {
+ Collections.shuffle(funcStaList);
+ }
+
// filter idle
funcStaList = funcStaList.stream().filter(funcSta -> {
@@ -72,31 +87,34 @@
return false;
}
- Agv existAgv = agvService.findByPosition(code);
+ Agv agv = agvService.findByPosition(code);
if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
// if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
- if (null != existAgv) {
- AgvDetail agvDetail = agvDetailService.selectByAgvId(existAgv.getId());
+ if (null != agv && !agv.getId().equals(agvId)) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
- AgvModel agvModel = agvModelService.getById(existAgv.getAgvModel());
if (agvDetail.getVol() < agvModel.getQuaBattery()) {
return false;
}
} else {
- Task latestTask = taskService.findLatestTask(existAgv.getId(), null);
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
if (null != latestTask
&& latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
&& latestTask.getDestCode().equals(funcSta.getCode())
) {
- return false;
+ // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ return false;
+ }
}
}
}
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .in(Task::getTaskType, TaskTypeType.TO_STANDBY.val(), TaskTypeType.TO_CHARGE.val())
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -107,10 +125,14 @@
if (funcSta.getType().equals(FuncStaType.STANDBY.toString())) {
- if (null == existAgv) {
+ if (null == agv) {
// if there is a running task whose destination is this funSta, then that means this funSta is occupied
if (0 < taskService.count(new LambdaQueryWrapper<Task>()
- .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .in(Task::getTaskType
+ , TaskTypeType.TO_STANDBY.val()
+ , TaskTypeType.TO_CHARGE.val()
+ , TaskTypeType.MOVE.val()
+ )
.in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
.eq(Task::getDestCode, code)
)) {
@@ -118,10 +140,13 @@
}
} else {
- // if there is an agv on the code of this funSta, should we let this agv leave?
- // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
+ if (!agv.getId().equals(agvId)) {
+ // if there is an agv on the code of this funSta, should we let this agv leave?
+ // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
// Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
+ return false;
+ }
}
}
@@ -139,7 +164,7 @@
}
if (null != codeId) {
- Code currCode = codeService.getById(codeId);
+ Code currCode = codeService.getCacheById(codeId);
Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
// checkout one funSta which is the closest
@@ -148,11 +173,11 @@
funcStaList.sort(new Comparator<FuncSta>() {
@Override
public int compare(FuncSta o1, FuncSta o2) {
- Code o1Code = codeService.getById(o1.getCode());
- int o1Distance = calcPositionDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+ Code o1Code = codeService.getCacheById(o1.getCode());
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
- Code o2Code = codeService.getById(o2.getCode());
- int o2Distance = calcPositionDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+ Code o2Code = codeService.getCacheById(o2.getCode());
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
return o1Distance - o2Distance;
}
@@ -163,8 +188,102 @@
return funcStaList.stream().findFirst().orElse(null);
}
- private int calcPositionDistance(Double[] from, Double[] to) {
- return (int) (Math.abs(to[0] - from[0]) + Math.abs(to[1] - from[1]));
+ @Override
+ public FuncSta checkoutFurthestFunSta(Long codeId, List<FuncSta> funcStaList) {
+ if (Cools.isEmpty(funcStaList)) {
+ return null;
+ }
+
+ if (null != codeId) {
+ Code currCode = codeService.getCacheById(codeId);
+ Double[] startPos = new Double[]{currCode.getX(), currCode.getY()};
+
+ // checkout one funSta which is the closest
+
+ // compare => compare杩斿洖璐熸暟锛屽垯鎺掑湪闆嗗悎鍓嶉潰 锛坅sc锛�
+ funcStaList.sort(new Comparator<FuncSta>() {
+ @Override
+ public int compare(FuncSta o1, FuncSta o2) {
+ Code o1Code = codeService.getCacheById(o1.getCode());
+ int o1Distance = CommonUtil.calcDistance(startPos, new Double[]{o1Code.getX(), o1Code.getY()});
+
+ Code o2Code = codeService.getCacheById(o2.getCode());
+ int o2Distance = CommonUtil.calcDistance(startPos, new Double[]{o2Code.getX(), o2Code.getY()});
+
+ return o2Distance - o1Distance;
+ }
+ });
+
+ }
+
+ return funcStaList.stream().findFirst().orElse(null);
+ }
+
+ @Override
+ public Boolean isCanBeIdle(FuncSta funcSta) {
+ Agv agv;
+ switch (Objects.requireNonNull(FuncStaType.query(funcSta.getType()))) {
+ case CHARGE:
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
+ .eq(Task::getDestCode, funcSta.getCode())
+ .and(i -> {
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
+ return false;
+ } else {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask
+ && latestTask.getTaskType().equals(TaskTypeType.TO_CHARGE.val())
+ && latestTask.getDestCode().equals(funcSta.getCode())
+ ) {
+ // avoid the agv already be full battery but there was no task assign to it, so that not in charge status and battery had down
+ if (agvDetailService.isPowerLoss(agv, agvDetail, agvModel)) {
+ return false;
+ }
+ }
+ }
+ }
+ break;
+ case STANDBY:
+ if (0 < taskService.count(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
+ .eq(Task::getDestCode, funcSta.getCode())
+ .and(i -> {
+ i.eq(Task::getTaskSts, TaskStsType.WAITING.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.ASSIGN.val()).or()
+ .eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
+ })
+ )) {
+ return false;
+ }
+
+ agv = agvService.findByPosition(funcSta.getCode());
+ if (null != agv) {
+ Task latestTask = taskService.findLatestTask(agv.getId(), null);
+ if (null != latestTask
+ && latestTask.getTaskType().equals(TaskTypeType.TO_STANDBY.val())
+ && latestTask.getDestCode().equals(funcSta.getCode())
+ ) {
+ return false;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+ return true;
}
}
--
Gitblit v1.9.1