From 2307db8fc3abd03227f54e24f73d87fb34908dc2 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期四, 15 一月 2026 09:26:00 +0800
Subject: [PATCH] agv可入判断以及分配规则
---
src/main/java/com/zy/common/properties/AgvProperties.java | 26 ++++++
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 30 ++++++-
src/main/java/com/zy/common/constant/ApiInterfaceConstant.java | 3
src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java | 111 ++++++++++++++++++++++++++-
src/main/resources/application-dev.yml | 6 +
src/main/resources/application-prod.yml | 8 +
6 files changed, 170 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 6a89950..a7ef72a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
@@ -37,6 +37,8 @@
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -125,6 +127,12 @@
@Resource
private AgvProperties agvProperties;
+
+ /**
+ * 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
+ */
+ private final Map<String, AtomicInteger> siteRoundRobinCounters = new ConcurrentHashMap<>();
@Override
public R inLocCallAgv(CallAgvParam param,Long userId) {
@@ -232,10 +240,10 @@
.map(Integer::parseInt)
.collect(Collectors.toList());
- // 鍒ゆ柇鑳藉叆绔欑偣
+ // 鍒ゆ柇鑳藉叆绔欑偣锛坕n_enable="Y"琛ㄧず鑳藉叆锛�
List<Integer> sites = basDevpMapper.selectList(
new EntityWrapper<BasDevp>()
- .eq("canining", "Y")
+ .eq("in_enable", "Y") // in_enable鏄兘鍏�
.in("dev_no", siteIntList)
).stream().map(BasDevp::getDevNo).collect(Collectors.toList());
@@ -249,14 +257,103 @@
throw new CoolException("璇风瓑寰呭嚭搴撳畬鎴�,type:" + type);
}
- // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣
- List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>().in("dev_no", canInSites));
+ // 妫�鏌ョ珯鐐规槸鍚︽湁鏈畬鎴愮殑AGV浠诲姟
+ // 瑙勫垯锛氬綋鏌愪釜绔欑偣鏈夋湭瀹屾垚鐨凙GV浠诲姟鏃讹紝涓嶅垎閰嶈绔欑偣锛涘彧浠庢病鏈夋湭瀹屾垚浠诲姟鐨勭珯鐐逛腑閫夋嫨
+ // 灏嗙珯鐐瑰垪琛ㄨ浆鎹负瀛楃涓插垪琛紙Task琛ㄧ殑sta_no鏄疭tring绫诲瀷锛�
+ List<String> siteStrList = canInSites.stream()
+ .map(String::valueOf)
+ .collect(Collectors.toList());
+
+ // 鏌ヨ杩欎簺绔欑偣涓湁鏈畬鎴怉GV浠诲姟鐨勭珯鐐癸紙wrk_sts涓嶅湪5鍜�15涔嬮棿琛ㄧず鏈畬鎴愶級
+ List<Task> unfinishedTasks = taskService.selectList(new EntityWrapper<Task>()
+ .in("sta_no", siteStrList)
+ .eq("task_type", "agv") // 鍙煡璇GV浠诲姟
+ .last("AND wrk_sts NOT IN (5, 15)") // 鎺掗櫎宸插畬鎴愮姸鎬侊紙5鍜�15琛ㄧず宸插畬鎴愶級
+ );
+
+ // 鑾峰彇鏈夋湭瀹屾垚浠诲姟鐨勭珯鐐归泦鍚堬紙杩欎簺绔欑偣灏嗚鎺掗櫎锛屼笉鍙備笌鍒嗛厤锛�
+ Set<String> sitesWithUnfinishedTasks = unfinishedTasks.stream()
+ .map(Task::getStaNo)
+ .collect(Collectors.toSet());
+
+ // 浠庡彲鐢ㄧ珯鐐逛腑鎺掗櫎鏈夋湭瀹屾垚浠诲姟鐨勭珯鐐癸紝鍙繚鐣欐病鏈夋湭瀹屾垚浠诲姟鐨勭珯鐐�
+ List<Integer> availableSites = canInSites.stream()
+ .filter(site -> !sitesWithUnfinishedTasks.contains(String.valueOf(site)))
+ .collect(Collectors.toList());
+
+ // 濡傛灉鎵�鏈夌珯鐐归兘鏈夋湭瀹屾垚浠诲姟锛屽垯娌℃湁鍙敤绔欑偣锛屼笉鍒嗛厤
+ if (availableSites.isEmpty()) {
+ String groupName = (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea()))
+ ? "涓滀晶" : "瑗夸晶";
+ log.warn("{}鎵�鏈夌珯鐐癸紙{}锛夐兘鏈夋湭瀹屾垚鐨凙GV浠诲姟锛屾棤娉曞垎閰嶇珯鐐癸紝璇风瓑寰呬换鍔″畬鎴�", groupName, canInSites);
+ throw new CoolException(groupName + "鎵�鏈夌珯鐐归兘鏈夋湭瀹屾垚鐨凙GV浠诲姟锛岃绛夊緟浠诲姟瀹屾垚鍚庡啀璇�");
+ }
+
+ // 璁板綍绔欑偣鍒嗛厤淇℃伅
+ if (!sitesWithUnfinishedTasks.isEmpty()) {
+ log.info("绔欑偣鍒嗛厤妫�鏌ワ細鎬荤珯鐐规暟={}锛屾湁鏈畬鎴愪换鍔＄殑绔欑偣={}锛堝凡鎺掗櫎锛夛紝鍙敤绔欑偣鏁�={}锛屽彲鐢ㄧ珯鐐�={}",
+ canInSites.size(), sitesWithUnfinishedTasks, availableSites.size(), availableSites);
+ } else {
+ log.info("绔欑偣鍒嗛厤妫�鏌ワ細鎵�鏈夌珯鐐癸紙{}锛夐兘娌℃湁鏈畬鎴愪换鍔★紝鍏ㄩ儴鍙敤", canInSites);
+ }
+
+ // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣锛堝彧浠庡彲鐢ㄧ珯鐐逛腑閫夋嫨锛屼笖蹇呴』in_enable="Y"鑳藉叆 鍜� canining="Y"鍙叆锛�
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", availableSites)
+ .eq("in_enable", "Y") // in_enable鏄兘鍏�
+ .eq("canining", "Y") // canining鏄彲鍏�
+ );
+
+ // 濡傛灉鏌ヨ缁撴灉涓虹┖锛岃鏄庢病鏈夊彲鍏ョ殑绔欑偣
+ if (devList.isEmpty()) {
+ String groupName = (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea()))
+ ? "涓滀晶" : "瑗夸晶";
+ log.warn("{}鍙敤绔欑偣锛坽}锛変腑娌℃湁鍙叆绔欑偣锛坕n_enable='Y'涓攃anining='Y'锛夛紝鏃犳硶鍒嗛厤", groupName, availableSites);
+ throw new CoolException(groupName + "鍙敤绔欑偣涓病鏈夊彲鍏ョ珯鐐癸紝璇锋鏌ョ珯鐐归厤缃�");
+ }
+
// 鍏ュ簱浠诲姟鏁版帓搴�
devList.sort(Comparator.comparing(BasDevp::getInQty));
- // 鍙栧叆搴撲换鍔℃渶灏戠珯鐐�
- BasDevp basDevp = devList.get(0);
- int endSite = basDevp.getDevNo();
+ // 閫夋嫨绔欑偣
+ BasDevp basDevp;
+ int endSite;
+
+ // 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();
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤锛氬綋澶氫釜绔欑偣浠诲姟鏁扮浉鍚屾椂锛屼娇鐢ㄨ疆璇�
+ String groupKey = (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea()))
+ ? "east" : "west";
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int index = counter.getAndIncrement() % minTaskSites.size();
+ basDevp = minTaskSites.get(index);
+ log.info("浣跨敤杞鍒嗛厤绛栫暐锛岀珯鐐圭粍锛歿}锛岃疆璇㈢储寮曪細{}锛岄�変腑绔欑偣锛歿}", groupKey, index, basDevp.getDevNo());
+ } else if (minTaskSites.size() > 1 && enableRoundRobin && "random".equals(strategy)) {
+ // 闅忔満鍒嗛厤
+ Random random = new Random();
+ int index = random.nextInt(minTaskSites.size());
+ basDevp = minTaskSites.get(index);
+ log.info("浣跨敤闅忔満鍒嗛厤绛栫暐锛岄�変腑绔欑偣锛歿}", basDevp.getDevNo());
+ } else {
+ // 榛樿锛氶�夋嫨绗竴涓紙浠诲姟鏈�灏戠殑锛�
+ basDevp = devList.get(0);
+ if (minTaskSites.size() > 1) {
+ log.info("澶氫釜绔欑偣浠诲姟鏁扮浉鍚岋紙{}锛夛紝浣嗘湭鍚敤杞锛岄�夋嫨绗竴涓珯鐐癸細{}", minInQty, basDevp.getDevNo());
+ }
+ }
+
+ endSite = basDevp.getDevNo();
// 鍏ュ簱鏆傚瓨+1
basDevpMapper.incrementInQty(endSite);
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index fdc0fe8..cbada90 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -88,6 +88,9 @@
default:
}
String body = getRequest(task,namespace);
+ // 鎵撳嵃璇锋眰淇℃伅
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍦板潃锛歿}", namespace, url);
+ log.info("{}鍛煎彨agv鎼繍 - 璇锋眰鍙傛暟锛歿}", namespace, body);
try {
// 浣跨敤浠欏伐M4鎺ュ彛
response = new HttpHandler.Builder()
@@ -96,18 +99,35 @@
.setJson(body)
.build()
.doPost();
+ // 鎵撳嵃杩斿洖鍙傛暟
+ log.info("{}鍛煎彨agv鎼繍 - 杩斿洖鍙傛暟锛歿}", namespace, response);
+
+ // 妫�鏌ュ搷搴旀槸鍚︿负绌�
+ if (response == null || response.trim().isEmpty()) {
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛孉GV鎺ュ彛杩斿洖涓虹┖", namespace, task.getId());
+ continue;
+ }
+
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
+ if (jsonObject == null) {
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛屽搷搴擩SON瑙ｆ瀽澶辫触锛屽搷搴斿唴瀹癸細{}", namespace, task.getId(), response);
+ continue;
+ }
+
+ Integer code = jsonObject.getInteger("code");
+ if (code != null && code.equals(200)) {
success = true;
task.setWrkSts(8L);
taskService.updateById(task);
- log.info(namespace + "鍛煎彨agv鎼繍璇锋眰鍙傛暟锛歿}", body);
- log.info(namespace + "鍛煎彨agv鎼繍鎴愬姛锛歿}", task.getId());
+ log.info("{}鍛煎彨agv鎼繍鎴愬姛 - 浠诲姟ID锛歿}", namespace, task.getId());
} else {
- log.error(namespace + "鍛煎彨agv鎼繍澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ String message = jsonObject.getString("message");
+ log.error("{}鍛煎彨agv鎼繍澶辫触 - 浠诲姟ID锛歿}锛岄敊璇爜锛歿}锛岄敊璇俊鎭細{}",
+ namespace, task.getId(), code, message);
}
} catch (Exception e) {
- log.error(namespace + "鍛煎彨agv鎼繍寮傚父", e);
+ log.error("{}鍛煎彨agv鎼繍寮傚父 - 浠诲姟ID锛歿}锛岃姹傚湴鍧�锛歿}锛岃姹傚弬鏁帮細{}锛屽紓甯镐俊鎭細{}",
+ namespace, task.getId(), url, body, e.getMessage(), e);
} finally {
try {
// 淇濆瓨鎺ュ彛鏃ュ織
diff --git a/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java b/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
index 3eab7a6..e8dd36b 100644
--- a/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
+++ b/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
@@ -33,7 +33,8 @@
*/
// public static final String AGV_IP = "http://192.168.99.130:80";
// 娴嬭瘯鍦板潃
- public static final String AGV_IP = "http://10.10.10.200:8080/agv";
+// public static final String AGV_IP = "http://10.10.10.200:8081/agv";
+ public static final String AGV_IP = "http://172.21.1.80:5800";
/**
* 浠欏伐M4 - 鍒涘缓浠诲姟锛堣揣鐗╄浆杩愩�佸疄鎵樺叆搴擄紝瀹炴墭鍑哄簱锛�
diff --git a/src/main/java/com/zy/common/properties/AgvProperties.java b/src/main/java/com/zy/common/properties/AgvProperties.java
index c8119c8..6e41f35 100644
--- a/src/main/java/com/zy/common/properties/AgvProperties.java
+++ b/src/main/java/com/zy/common/properties/AgvProperties.java
@@ -39,6 +39,11 @@
private WhsTypeMapping whsTypeMapping = new WhsTypeMapping();
/**
+ * 绔欑偣鍒嗛厤绛栫暐閰嶇疆
+ */
+ private SiteAllocationStrategy siteAllocation = new SiteAllocationStrategy();
+
+ /**
* whs_type鏄犲皠閰嶇疆鍐呴儴绫�
*/
@Data
@@ -99,4 +104,25 @@
return west != null && west.getRobotGroup() != null && !west.getRobotGroup().isEmpty()
? west.getRobotGroup() : "Group-002";
}
+
+ /**
+ * 绔欑偣鍒嗛厤绛栫暐閰嶇疆鍐呴儴绫�
+ */
+ @Data
+ public static class SiteAllocationStrategy {
+ /**
+ * 鍒嗛厤绛栫暐绫诲瀷
+ * round-robin: 杞鍒嗛厤锛堝钩鍧囧垎閰嶏級
+ * least-task: 鏈�灏戜换鍔′紭鍏堬紙榛樿锛�
+ * random: 闅忔満鍒嗛厤
+ */
+ private String strategy = "least-task";
+
+ /**
+ * 鏄惁鍚敤骞冲潎鍒嗛厤
+ * true: 褰撳涓珯鐐逛换鍔℃暟鐩稿悓鏃讹紝浣跨敤杞鍒嗛厤
+ * false: 鎬绘槸閫夋嫨绗竴涓紙浠诲姟鏈�灏戠殑锛�
+ */
+ private boolean enableRoundRobin = true;
+ }
}
diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml
index 3d333c3..7bfbc8c 100644
--- a/src/main/resources/application-dev.yml
+++ b/src/main/resources/application-dev.yml
@@ -90,6 +90,12 @@
inboundArea: 1
# 缂撳瓨鍖簑hs_type鍊硷紙瀵瑰簲瑗夸晶锛�
cacheArea: 2
+ # 绔欑偣鍒嗛厤绛栫暐閰嶇疆
+ siteAllocation:
+ # 鍒嗛厤绛栫暐绫诲瀷锛歳ound-robin(杞鍒嗛厤/骞冲潎鍒嗛厤)銆乴east-task(鏈�灏戜换鍔′紭鍏堬紝榛樿)銆乺andom(闅忔満鍒嗛厤)
+ strategy: round-robin
+ # 鏄惁鍚敤骞冲潎鍒嗛厤锛氬綋澶氫釜绔欑偣浠诲姟鏁扮浉鍚屾椂锛宼rue=浣跨敤杞鍒嗛厤锛宖alse=鎬绘槸閫夋嫨绗竴涓�
+ enableRoundRobin: true
# 瓒婂簱閰嶇疆
cross-dock:
diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml
index 516a3e7..0067f7c 100644
--- a/src/main/resources/application-prod.yml
+++ b/src/main/resources/application-prod.yml
@@ -67,7 +67,7 @@
doubleLocsRight: 4,8,12,16,20,24,28,32
Agv:
- sendTask: false
+ sendTask: true
# 涓滀晶閰嶇疆
east:
robotGroup: "Group-001"
@@ -90,6 +90,12 @@
inboundArea: 1
# 缂撳瓨鍖簑hs_type鍊硷紙瀵瑰簲瑗夸晶锛�
cacheArea: 2
+ # 绔欑偣鍒嗛厤绛栫暐閰嶇疆
+ siteAllocation:
+ # 鍒嗛厤绛栫暐绫诲瀷锛歳ound-robin(杞鍒嗛厤/骞冲潎鍒嗛厤)銆乴east-task(鏈�灏戜换鍔′紭鍏堬紝榛樿)銆乺andom(闅忔満鍒嗛厤)
+ strategy: round-robin
+ # 鏄惁鍚敤骞冲潎鍒嗛厤锛氬綋澶氫釜绔欑偣浠诲姟鏁扮浉鍚屾椂锛宼rue=浣跨敤杞鍒嗛厤锛宖alse=鎬绘槸閫夋嫨绗竴涓�
+ enableRoundRobin: true
# 瓒婂簱閰嶇疆
cross-dock:
--
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