From 10778ff6207c31641187acb487d4b67c0de59b24 Mon Sep 17 00:00:00 2001
From: chen.lin <1442464845@qq.com>
Date: 星期一, 02 二月 2026 10:38:51 +0800
Subject: [PATCH] agv增加一个新单号防重复 ，增加一个手动呼叫agv
---
src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java | 507 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 493 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
index f78d13f..e9c6220 100644
--- a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
@@ -129,6 +129,9 @@
@Resource
private AgvProperties agvProperties;
+ @Autowired
+ private com.zy.asrs.task.handler.AgvHandler agvHandler;
+
/**
* 绔欑偣杞璁℃暟鍣紝鐢ㄤ簬骞冲潎鍒嗛厤绔欑偣
* Key: 绔欑偣缁勬爣璇嗭紙濡� "east" 鎴� "west"锛夛紝Value: 褰撳墠杞绱㈠紩
@@ -1358,23 +1361,54 @@
*/
@Override
public R callAgvMove(AgvCallParams params, Long userId) {
- if (Objects.isNull(params.getTarSite())) {
- throw new CoolException("鐩爣鍙傛暟涓嶈兘涓虹┖锛侊紒");
- }
if (Objects.isNull(params.getOrgSite())) {
throw new CoolException("婧愮珯鐐逛笉鑳戒负绌猴紒锛�");
}
- LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
- .eq("frozen", 0)
- .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
- .eq("loc_no", params.getTarSite())
- .orderAsc(Arrays.asList("loc_no"))
- .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
- if (Objects.isNull(locCache)) {
- throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ if (Objects.isNull(params.getBarcode())) {
+ throw new CoolException("鎵樼洏鐮佷笉鑳戒负绌猴紒锛�");
}
-
- generateAgvTask("agv", locCache, params.getOrgSite(), params.getBarcode(), userId);
+
+ String callType = params.getCallType();
+ if (callType == null || callType.isEmpty()) {
+ callType = "manual"; // 榛樿鎵嬪姩杈撳叆
+ }
+
+ if ("manual".equals(callType)) {
+ // 鎵嬪姩杈撳叆锛氶渶瑕佺洰鏍囩珯鐐�
+ if (Objects.isNull(params.getTarSite())) {
+ throw new CoolException("鎵嬪姩杈撳叆妯″紡涓嬶紝鐩爣绔欑偣涓嶈兘涓虹┖锛侊紒");
+ }
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
+ .eq("loc_no", params.getTarSite())
+ .orderAsc(Arrays.asList("loc_no"))
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ }
+ generateAgvTask("agv", locCache, params.getOrgSite(), params.getBarcode(), userId);
+ } else if ("outbound".equals(callType)) {
+ // 璧风偣+鍑哄簱锛氳嚜鍔ㄥ垎閰嶇珯鐐瑰拰缂撳瓨浣�
+ generateOutboundAgvTask(params.getOrgSite(), params.getBarcode(), userId);
+ } else if ("inbound".equals(callType)) {
+ // 璧风偣+鍏ュ簱锛氳嚜鍔ㄥ垎閰嶇珯鐐癸紝搴撲綅鎵嬪姩杈撳叆
+ if (Objects.isNull(params.getTarLoc())) {
+ throw new CoolException("鍏ュ簱妯″紡涓嬶紝鐩爣搴撲綅涓嶈兘涓虹┖锛侊紒");
+ }
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>()
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type)
+ .eq("loc_no", params.getTarLoc())
+ .orderAsc(Arrays.asList("loc_no"))
+ .last("OFFSET 0 ROWS FETCH NEXT 1 ROWS ONLY"));
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("璇锋鏌ョ洰鏍囧簱浣嶆槸鍚﹂棽缃腑锛侊紒");
+ }
+ generateInboundAgvTask(locCache, params.getOrgSite(), params.getBarcode(), userId);
+ } else {
+ throw new CoolException("涓嶆敮鎸佺殑鍛煎彨绫诲瀷锛�" + callType);
+ }
return R.ok();
}
@@ -1543,11 +1577,12 @@
task.setWrkNo(workNo)
.setAgvWrkNo(agvWrkNo) // 璁剧疆AGV宸ヤ綔鍙�
.setIoTime(now)
- .setWrkSts(1L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堜笌鑷姩鍒涘缓淇濇寔涓�鑷达紝鐢卞畾鏃朵换鍔″垎閰嶇珯鐐瑰苟鍛煎彨锛�
.setIoType(1) // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
.setTaskType("agv")
.setIoPri(10D)
.setLocNo(loc.getLocNo()) // 鐩爣搴撲綅
+ .setStaNo(null) // 绔欑偣鍒嗛厤鐢卞畾鏃朵换鍔″鐞嗭紙涓庤嚜鍔ㄥ垱寤轰繚鎸佷竴鑷达級
.setFullPlt("Y") // 婊℃澘锛歒
.setPicking("N") // 鎷ｆ枡
.setExitMk("N")// 閫�鍑�
@@ -1599,4 +1634,448 @@
throw new CoolException("绉昏浆澶辫触锛岀洰鏍囧簱浣嶇姸鎬侊細" + loc.getLocSts$());
}
}
+
+ /**
+ * 鐢熸垚鍑哄簱AGV浠诲姟锛堣捣鐐�+鍑哄簱锛岃嚜鍔ㄥ垎閰嶇珯鐐瑰拰缂撳瓨浣嶏級
+ * @param orgSite 婧愮珯鐐�
+ * @param barcode 鎵樼洏鐮�
+ * @param userId 鐢ㄦ埛ID
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public void generateOutboundAgvTask(String orgSite, String barcode, Long userId) {
+ // 鏍规嵁婧愮珯鐐瑰垽鏂槸涓滀晶杩樻槸瑗夸晶锛岀‘瀹氱紦瀛樺尯绔欑偣鍜寃hs_type
+ List<String> eastStations = agvProperties.getEastStations();
+ List<String> westStations = agvProperties.getWestStations();
+ List<String> cacheStations;
+ Long targetWhsType;
+ String robotGroup;
+ String cacheAreaPrefix = agvProperties.getLocationPrefix().getCacheArea();
+ boolean isEmptyPallet = false; // 榛樿婊℃澘鍑哄簱锛屽彲鏍规嵁闇�瑕佽皟鏁�
+
+ if (eastStations.contains(orgSite)) {
+ // 涓滀晶鍑哄簱绔欑偣锛屾煡鎵句笢渚A搴撲綅锛坵hs_type=1锛�
+ cacheStations = agvProperties.getEastStations();
+ robotGroup = agvProperties.getRobotGroupEast();
+ targetWhsType = agvProperties.getWhsTypeMapping().getInboundArea(); // whs_type=1
+ } else if (westStations.contains(orgSite)) {
+ // 瑗夸晶鍑哄簱绔欑偣锛屾煡鎵捐タ渚A搴撲綅锛坵hs_type=2锛�
+ cacheStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ targetWhsType = agvProperties.getWhsTypeMapping().getCacheArea(); // whs_type=2
+ } else {
+ // 榛樿浣跨敤瑗夸晶
+ cacheStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ targetWhsType = agvProperties.getWhsTypeMapping().getCacheArea();
+ log.warn("婧愮珯鐐箋}涓嶅湪閰嶇疆鐨勭珯鐐瑰垪琛ㄤ腑锛屼娇鐢ㄩ粯璁よタ渚ч厤缃�", orgSite);
+ }
+
+ // 鑷姩鍒嗛厤缂撳瓨浣嶏紙浣跨敤浼樺厛绾у垎閰嶉�昏緫锛�
+ LocCache locCache = allocateCacheLocationByPriority(targetWhsType, cacheAreaPrefix, isEmptyPallet);
+ if (Objects.isNull(locCache)) {
+ throw new CoolException("鏆傛棤婊¤冻闇�姹傜殑缂撳瓨浣嶏紒");
+ }
+
+ // 鑷姩鍒嗛厤绔欑偣锛堜娇鐢ㄥ嚭搴撳埌缂撳瓨鍖虹殑鍒嗛厤绛栫暐锛�
+ String allocatedSite = allocateCacheStationForOutbound(cacheStations, 101);
+ if (allocatedSite == null) {
+ throw new CoolException("鏃犳硶鍒嗛厤缂撳瓨鍖虹珯鐐癸紝鎵�鏈夌珯鐐归兘鍦ㄤ娇鐢ㄤ腑锛�");
+ }
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+ task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo)
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堢珯鐐瑰凡鍒嗛厤锛�
+ .setIoType(101) // 鍏ュ嚭搴撶姸鎬侊細101.鍏ㄦ澘鍑哄簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setStaNo(allocatedSite) // 绔欑偣宸茶嚜鍔ㄥ垎閰�
+ .setLocNo(locCache.getLocNo()) // 鐩爣缂撳瓨浣�
+ .setFullPlt("Y") // 婊℃澘锛歒
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceStaNo(orgSite) // 婧愮珯鐐�
+ .setSourceLocNo(locCache.getLocNo()) // 婧愬簱浣嶏紙缂撳瓨浣嶏級
+ .setEmptyMk(locCache.getLocSts().equals("D") ? "Y" : "N")// 绌烘澘
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setInvWh(robotGroup) // 鏍规嵁婧愮珯鐐硅缃満鍣ㄤ汉缁�
+ .setAppeUser(userId)
+ .setAppeTime(now)
+ .setModiUser(userId)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+
+ // 鏇存柊缂撳瓨浣嶇姸鎬侊細O锛堥棽缃級-> R锛堝嚭搴撻绾︼級
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_R.type);
+ locCache.setModiUser(userId);
+ locCache.setModiTime(now);
+ if (!locCacheService.updateById(locCache)) {
+ throw new CoolException("鏇存柊缂撳瓨浣嶇姸鎬佸け璐�");
+ }
+ }
+
+ /**
+ * 鐢熸垚鍏ュ簱AGV浠诲姟锛堣捣鐐�+鍏ュ簱锛岃嚜鍔ㄥ垎閰嶇珯鐐癸紝搴撲綅鎵嬪姩鎸囧畾锛�
+ * @param locCache 鐩爣搴撲綅
+ * @param orgSite 婧愮珯鐐�
+ * @param barcode 鎵樼洏鐮�
+ * @param userId 鐢ㄦ埛ID
+ */
+ @Transactional(rollbackFor = Exception.class)
+ public void generateInboundAgvTask(LocCache locCache, String orgSite, String barcode, Long userId) {
+ // 鍒ゆ柇鏄惁鏄┖鎵樺叆搴擄細搴撲綅鐘舵�佷负"D"锛堢┖妗�/绌烘爤鏉匡級琛ㄧず绌烘墭鍏ュ簱
+ boolean isEmptyPallet = LocStsType.LOC_STS_TYPE_D.type.equals(locCache.getLocSts());
+ Integer ioType = isEmptyPallet ? 10 : 1; // 10=绌烘墭鍏ュ簱锛�1=瀹炴墭鍏ュ簱
+
+ // 鍙湁瀹炴墭鍏ュ簱鎵嶉渶瑕佺粍鎵樹俊鎭�
+ List<WaitPakin> pakins = null;
+ if (!isEmptyPallet) {
+ // 瀹炴墭鍏ュ簱锛氭鏌ョ粍鎵樹俊鎭槸鍚﹀瓨鍦�
+ pakins = waitPakinService.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
+ if (Objects.isNull(pakins) || pakins.isEmpty()) {
+ throw new CoolException("缁勬墭淇℃伅涓嶅瓨鍦紒锛�");
+ }
+ }
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 鐢熸垚AGV宸ヤ綔鍙�
+ String agvWrkNo = AgvUtils.generateAgvWrkNo(workNo);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+
+ // 鏍规嵁搴撲綅whs_type纭畾鏈哄櫒浜虹粍
+ Long whsType = locCache.getWhsType();
+ String robotGroup;
+ if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea())) {
+ robotGroup = agvProperties.getRobotGroupEast();
+ } else if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getCacheArea())) {
+ robotGroup = agvProperties.getRobotGroupWest();
+ } else {
+ robotGroup = agvProperties.getRobotGroupEast(); // 榛樿涓滀晶
+ }
+
+ task.setWrkNo(workNo)
+ .setAgvWrkNo(agvWrkNo) // 璁剧疆AGV宸ヤ綔鍙�
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細7.寰呭懠鍙獳GV锛堢珯鐐瑰皢鑷姩鍒嗛厤锛�
+ .setIoType(ioType) // 鍏ュ嚭搴撶姸鎬侊細10=绌烘墭鍏ュ簱锛�1=瀹炴墭鍏ュ簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setLocNo(locCache.getLocNo()) // 鐩爣搴撲綅
+ .setStaNo(null) // 绔欑偣灏嗚嚜鍔ㄥ垎閰�
+ .setFullPlt(isEmptyPallet ? "N" : "Y") // 绌烘墭鍏ュ簱璁剧疆涓篘锛屽疄鎵樺叆搴撹缃负Y
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceStaNo(orgSite) // 婧愮珯鐐�
+ .setSourceLocNo(orgSite) // 婧愬簱浣嶏紙浣跨敤婧愮珯鐐癸級
+ .setEmptyMk(isEmptyPallet ? "Y" : "N")// 绌烘澘锛氱┖鎵樺叆搴撲负Y锛屽疄鎵樺叆搴撲负N
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setInvWh(robotGroup) // 鏍规嵁whs_type璁剧疆鏈哄櫒浜虹粍
+ .setAppeUser(userId)
+ .setAppeTime(now)
+ .setModiUser(userId)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+
+ // 绔嬪嵆鍒嗛厤绔欑偣锛堣窡闅忓叆搴撻�昏緫锛�
+ String errorMsg = agvHandler.allocateSiteForTask(task);
+ if (errorMsg != null) {
+ throw new CoolException("鍒嗛厤绔欑偣澶辫触锛�" + errorMsg);
+ }
+ // 閲嶆柊鏌ヨ浠诲姟浠ヨ幏鍙栧垎閰嶅悗鐨勭珯鐐�
+ task = taskService.selectById(task.getId());
+ if (task.getStaNo() == null || task.getStaNo().isEmpty() || task.getStaNo().equals("0")) {
+ throw new CoolException("绔欑偣鍒嗛厤澶辫触锛屾棤娉曠户缁紒");
+ }
+
+ // 鍙湁瀹炴墭鍏ュ簱鎵嶉渶瑕佷繚瀛樺伐浣滄。鏄庣粏
+ if (!isEmptyPallet && pakins != null && !pakins.isEmpty()) {
+ List<TaskDetl> taskDetls = new ArrayList<>();
+ pakins.forEach(pakin -> {
+ TaskDetl wrkDetl = new TaskDetl();
+ BeanUtils.copyProperties(pakin, wrkDetl);
+ wrkDetl.setWrkNo(workNo)
+ .setIoTime(new Date())
+ .setOrderNo(pakin.getOrderNo())
+ .setAnfme(pakin.getAnfme())
+ .setZpallet(pakin.getZpallet())
+ .setBatch(pakin.getBatch())
+ .setMatnr(pakin.getMatnr())
+ .setMaktx(pakin.getMaktx())
+ .setAppeUser(userId)
+ .setUnit(pakin.getUnit())
+ .setModel(pakin.getModel())
+ .setAppeTime(new Date())
+ .setModiUser(userId);
+ taskDetls.add(wrkDetl);
+ });
+
+ if (!taskDetlService.insertBatch(taskDetls)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ }
+ }
+
+ // 淇敼鐩爣搴撲綅鐘舵�侊細O锛堥棽缃級-> S锛堝叆搴撻绾︼級
+ if (locCache.getLocSts().equals(LocStsType.LOC_STS_TYPE_O.type)) {
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_S.type);
+ locCache.setModiTime(now);
+ locCache.setModiUser(userId);
+ if (!locCacheService.updateById(locCache)) {
+ throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ }
+ } else {
+ throw new CoolException("绉昏浆澶辫触锛岀洰鏍囧簱浣嶇姸鎬侊細" + locCache.getLocSts());
+ }
+ }
+
+ /**
+ * 鎸変紭鍏堢骇鍒嗛厤缂撳瓨搴撲綅锛堣窡闅忓嚭搴撻�昏緫锛�
+ * @param whsType 搴撳尯绫诲瀷
+ * @param cacheAreaPrefix 缂撳瓨鍖哄簱浣嶅墠缂�锛堝"WA"锛�
+ * @param isEmptyPallet 鏄惁绌烘墭
+ * @return 鍒嗛厤鐨勭紦瀛樺簱浣嶏紝濡傛灉鏃犳硶鍒嗛厤鍒欒繑鍥瀗ull
+ */
+ private LocCache allocateCacheLocationByPriority(Long whsType, String cacheAreaPrefix, boolean isEmptyPallet) {
+ // 鏌ヨ鎵�鏈夌鍚堟潯浠剁殑绌哄簱浣�
+ List<LocCache> allLocations = locCacheService.selectList(new EntityWrapper<LocCache>()
+ .eq("whs_type", whsType)
+ .like("loc_no", cacheAreaPrefix + "%")
+ .eq("frozen", 0)
+ .eq("loc_sts", LocStsType.LOC_STS_TYPE_O.type) // O.闂茬疆
+ .ne("full_plt", isEmptyPallet ? "Y" : "N") // 绌烘墭涓嶉�夋弧鏉垮簱浣嶏紝婊℃墭涓嶉�夌┖鏉垮簱浣�
+ );
+
+ if (allLocations == null || allLocations.isEmpty()) {
+ return null;
+ }
+
+ // 鎸塺ow1鍒嗙粍
+ Map<Integer, List<LocCache>> locationsByRow = allLocations.stream()
+ .filter(loc -> loc.getRow1() != null)
+ .collect(Collectors.groupingBy(LocCache::getRow1));
+
+ if (locationsByRow.isEmpty()) {
+ return null;
+ }
+
+ // 浼樺厛绾�1锛氬垎閰嶇涓夊垪锛坆ay1=3锛夛紝涓旇鎺掔殑1銆�2銆�3鍒楅兘鏄┖鐨�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ // 妫�鏌ヨ鎺掔殑1銆�2銆�3鍒楁槸鍚﹂兘鏈夌┖搴撲綅
+ boolean hasBay1 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 1);
+ boolean hasBay2 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 2);
+ boolean hasBay3 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 3);
+
+ if (hasBay1 && hasBay2 && hasBay3) {
+ // 璇ユ帓鐨�1銆�2銆�3鍒楅兘鏄┖鐨勶紝鍒嗛厤绗笁鍒�
+ List<LocCache> bay3Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 3)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay3Locs.isEmpty()) {
+ log.debug("浼樺厛绾�1锛氬垎閰嶆帓{}鐨勭涓夊垪锛屽簱浣嶏細{}", row, bay3Locs.get(0).getLocNo());
+ return bay3Locs.get(0);
+ }
+ }
+ }
+
+ // 浼樺厛绾�2锛氬垎閰嶇浜屽垪锛坆ay1=2锛夛紝涓旇鎺掔殑1銆�2鍒楅兘鏄┖鐨�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ boolean hasBay1 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 1);
+ boolean hasBay2 = rowLocs.stream().anyMatch(loc -> loc.getBay1() != null && loc.getBay1() == 2);
+
+ if (hasBay1 && hasBay2) {
+ List<LocCache> bay2Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 2)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay2Locs.isEmpty()) {
+ log.debug("浼樺厛绾�2锛氬垎閰嶆帓{}鐨勭浜屽垪锛屽簱浣嶏細{}", row, bay2Locs.get(0).getLocNo());
+ return bay2Locs.get(0);
+ }
+ }
+ }
+
+ // 浼樺厛绾�3锛氬垎閰嶇涓�鍒楋紙bay1=1锛�
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay1Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 1)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay1Locs.isEmpty()) {
+ log.debug("浼樺厛绾�3锛氬垎閰嶆帓{}鐨勭涓�鍒楋紝搴撲綅锛歿}", row, bay1Locs.get(0).getLocNo());
+ return bay1Locs.get(0);
+ }
+ }
+
+ // 浼樺厛绾�4锛氬垎閰嶇浜屽垪锛堜笉瑕佹眰璇ユ帓鐨�1銆�2鍒楅兘鏄┖鐨勶級
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay2Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 2)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay2Locs.isEmpty()) {
+ log.debug("浼樺厛绾�4锛氬垎閰嶆帓{}鐨勭浜屽垪锛屽簱浣嶏細{}", row, bay2Locs.get(0).getLocNo());
+ return bay2Locs.get(0);
+ }
+ }
+
+ // 浼樺厛绾�5锛氬垎閰嶇涓夊垪锛堜笉瑕佹眰璇ユ帓鐨�1銆�2銆�3鍒楅兘鏄┖鐨勶級
+ for (Map.Entry<Integer, List<LocCache>> entry : locationsByRow.entrySet()) {
+ Integer row = entry.getKey();
+ List<LocCache> rowLocs = entry.getValue();
+
+ List<LocCache> bay3Locs = rowLocs.stream()
+ .filter(loc -> loc.getBay1() != null && loc.getBay1() == 3)
+ .sorted(Comparator.comparing(loc -> loc.getLev1() != null ? loc.getLev1() : 0))
+ .collect(Collectors.toList());
+
+ if (!bay3Locs.isEmpty()) {
+ log.debug("浼樺厛绾�5锛氬垎閰嶆帓{}鐨勭涓夊垪锛屽簱浣嶏細{}", row, bay3Locs.get(0).getLocNo());
+ return bay3Locs.get(0);
+ }
+ }
+
+ return null;
+ }
+
+ /**
+ * 涓哄嚭搴撳埌缂撳瓨鍖虹殑浠诲姟鍒嗛厤绔欑偣锛堣窡闅忓嚭搴撻�昏緫锛�
+ * @param cacheStations 缂撳瓨鍖虹珯鐐瑰垪琛�
+ * @param ioType 浠诲姟绫诲瀷锛�101=鍏ㄦ澘鍑哄簱锛�110=绌烘澘鍑哄簱锛�
+ * @return 鍒嗛厤鐨勭珯鐐圭紪鍙凤紝濡傛灉鏃犳硶鍒嗛厤鍒欒繑鍥瀗ull
+ */
+ private String allocateCacheStationForOutbound(List<String> cacheStations, Integer ioType) {
+ if (cacheStations == null || cacheStations.isEmpty()) {
+ log.warn("缂撳瓨鍖虹珯鐐瑰垪琛ㄤ负绌猴紝鏃犳硶鍒嗛厤绔欑偣");
+ return null;
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = cacheStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ // 鏌ヨ鎵�鏈夌紦瀛樺尯绔欑偣鐨勮澶囦俊鎭紙鍖呭惈浠诲姟鏁帮級
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", siteIntList)
+ );
+
+ if (devList.isEmpty()) {
+ log.warn("缂撳瓨鍖虹珯鐐箋}鍦ㄨ澶囪〃涓笉瀛樺湪", cacheStations);
+ return cacheStations.get(0); // 闄嶇骇锛氳繑鍥炵涓�涓珯鐐�
+ }
+
+ // 鎸夊叆搴撲换鍔℃暟鎺掑簭锛堝嚭搴撳埌缂撳瓨鍖轰篃浣跨敤in_qty瀛楁锛�
+ devList.sort(Comparator.comparing(BasDevp::getInQty));
+
+ // 鑾峰彇鏈�灏戜换鍔℃暟
+ int minInQty = devList.get(0).getInQty();
+
+ // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃
+ List<BasDevp> minTaskSites = devList.stream()
+ .filter(dev -> dev.getInQty() == minInQty)
+ .collect(Collectors.toList());
+
+ // 鏍规嵁閰嶇疆閫夋嫨鍒嗛厤绛栫暐
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ List<BasDevp> orderedSites = new ArrayList<>();
+ String groupKey = "west"; // 缂撳瓨鍖轰娇鐢ㄨタ渚�
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int startIndex = counter.get() % minTaskSites.size();
+ orderedSites.addAll(minTaskSites.subList(startIndex, minTaskSites.size()));
+ orderedSites.addAll(minTaskSites.subList(0, startIndex));
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ counter.getAndIncrement();
+ log.debug("浣跨敤杞鍒嗛厤绛栫暐锛岀珯鐐圭粍锛歿}锛岃疆璇㈣捣濮嬬储寮曪細{}", groupKey, startIndex);
+ } else if (minTaskSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤
+ List<BasDevp> shuffledMinSites = new ArrayList<>(minTaskSites);
+ Collections.shuffle(shuffledMinSites);
+ orderedSites.addAll(shuffledMinSites);
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ log.debug("浣跨敤闅忔満鍒嗛厤绛栫暐");
+ } else {
+ // 榛樿锛氭寜鍏ュ簱浠诲姟鏁版帓搴�
+ orderedSites = devList;
+ }
+
+ // 渚濇妫�鏌ユ瘡涓珯鐐规槸鍚﹀湪鎼繍锛屾壘鍒扮涓�涓┖闂茬珯鐐瑰氨鍒嗛厤
+ String selectedSite = null;
+ List<Integer> checkIoTypes = Arrays.asList(101, 110); // 鍑哄簱鍒扮紦瀛樺尯鐨勪换鍔＄被鍨�
+
+ for (BasDevp dev : orderedSites) {
+ String staNo = String.valueOf(dev.getDevNo());
+
+ // 妫�鏌ヨ绔欑偣鏄惁鏈夋鍦ㄦ惉杩愮殑鍚岀被鍨嬩换鍔�
+ List<Task> transportingTasks = taskService.selectList(
+ new EntityWrapper<Task>()
+ .eq("sta_no", staNo)
+ .eq("task_type", "agv")
+ .eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
+ .in("io_type", checkIoTypes)
+ .eq("is_deleted", 0)
+ );
+
+ if (!transportingTasks.isEmpty()) {
+ log.debug("缂撳瓨鍖虹珯鐐箋}鏈墈}涓鍦ㄦ惉杩愮殑鍑哄簱AGV浠诲姟锛屾鏌ヤ笅涓�涓珯鐐�",
+ staNo, transportingTasks.size());
+ continue; // 璇ョ珯鐐规鍦ㄦ惉杩愶紝妫�鏌ヤ笅涓�涓珯鐐�
+ }
+
+ // 鎵惧埌绗竴涓┖闂茬珯鐐癸紝鍒嗛厤
+ selectedSite = staNo;
+ log.info("鍑哄簱鍒扮紦瀛樺尯浠诲姟鎸夎鍒欏簲鍒嗛厤鍒扮珯鐐箋}锛岃绔欑偣绌洪棽锛屽垎閰嶆垚鍔�", staNo);
+ break;
+ }
+
+ // 濡傛灉鎵�鏈夌珯鐐归兘鍦ㄦ惉杩愶紝鍒欎笉鍒嗛厤绔欑偣
+ if (selectedSite == null) {
+ return null;
+ }
+
+ // 鏇存柊绔欑偣浠诲姟鏁帮紙鍑哄簱鍒扮紦瀛樺尯涔熶娇鐢╥n_qty瀛楁锛�
+ basDevpMapper.incrementInQty(Integer.parseInt(selectedSite));
+
+ return selectedSite;
+ }
}
--
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