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/asrs/service/impl/MobileServiceImpl.java | 288 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 285 insertions(+), 3 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 ed39a44..a7ef72a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MobileServiceImpl.java
@@ -9,18 +9,25 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.enums.LocStsType;
+import com.zy.asrs.enums.TaskIOType;
+import com.zy.asrs.mapper.BasDevpMapper;
+import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.LocMastMapper;
import com.zy.asrs.mapper.ManLocDetlMapper;
import com.zy.asrs.service.*;
+import com.zy.asrs.task.core.ReturnT;
import com.zy.asrs.utils.MatUtils;
+import com.zy.common.constant.ApiInterfaceConstant;
import com.zy.common.constant.MesConstant;
import com.zy.common.entity.Parameter;
import com.zy.common.model.DetlDto;
import com.zy.common.model.MesCombParam;
import com.zy.common.model.enums.WorkNoType;
+import com.zy.common.properties.AgvProperties;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -30,6 +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;
/**
@@ -109,6 +118,279 @@
private BasStationService basStationService;
@Autowired
private BasContainerService basContainerService;
+
+ @Resource
+ private BasStationMapper basStationMapper;
+
+ @Resource
+ private BasDevpMapper basDevpMapper;
+
+ @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) {
+ int type = param.getType();
+ String sourceSite = param.getSourceSite();
+ String barcode = param.getBarcode();
+ int ioType;
+ LocCache locCache = locCacheService.selectOne(new EntityWrapper<LocCache>().eq("loc_no", sourceSite));
+ if (null == locCache) {
+ throw new CoolException("绔欑偣涓嶅瓨鍦細" + sourceSite);
+ }
+ switch (type) {
+ case 1:
+ // 鍒ゆ柇鏈夋病鏈夌粍鎵�
+ int count = waitPakinService.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
+ if (count == 0) {
+ throw new CoolException("鏉＄爜鏈粍鎵橈細" + barcode);
+ }
+ ioType = 101;
+
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_R.type);
+ locCacheService.updateById(locCache);
+ break;
+ case 2:
+ // 鍒ゆ柇鏄嫞閫夊洖搴撴墭鐩�
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
+ if (wrkMast == null) {
+ throw new CoolException("鏉＄爜涓嶅瓨鍦細" + barcode);
+ }
+ if (wrkMast.getIoType() != 103 && wrkMast.getIoType() != 107) {
+ throw new CoolException("鏉＄爜涓嶉渶瑕佸洖搴擄細" + barcode);
+ }
+ ioType = wrkMast.getIoType() - 50;
+
+ locCache.setLocSts(LocStsType.LOC_STS_TYPE_R.type);
+ locCacheService.updateById(locCache);
+ break;
+ case 3:
+ // 鍒ゆ柇鏄惁涓虹┖鎵樺叆搴擄細妫�鏌ユ潯鐮佸湪wms涓笉瀛樺湪锛岀‘璁や负绌烘墭鐩�
+ log.info("寮�濮嬪垽鏂槸鍚︿负绌烘墭鍏ュ簱锛屾潯鐮侊細{}", barcode);
+
+ // 妫�鏌ユ槸鍚﹀凡缁勬墭
+ int waitPakInCount = waitPakinService.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", barcode));
+ if (waitPakInCount != 0) {
+ log.warn("鏉＄爜缁勬墭妗ｅ凡瀛樺湪锛屼笉鏄┖鎵樼洏锛歿}", barcode);
+ throw new CoolException("鏉＄爜缁勬墭妗ｅ凡瀛樺湪锛�" + barcode);
+ }
+
+ // 妫�鏌ユ槸鍚︽湁浠诲姟
+ int wrkMastCount = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("barcode", barcode));
+ if (wrkMastCount != 0) {
+ log.warn("鏉＄爜浠诲姟妗ｅ凡瀛樺湪锛屼笉鏄┖鎵樼洏锛歿}", barcode);
+ throw new CoolException("鏉＄爜浠诲姟妗ｅ凡瀛樺湪锛�" + barcode);
+ }
+
+ // 妫�鏌ユ槸鍚︽湁搴撳瓨
+ int locDetlCount = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet", barcode));
+ if (locDetlCount != 0) {
+ log.warn("鏉＄爜搴撳瓨宸插瓨鍦紝涓嶆槸绌烘墭鐩橈細{}", barcode);
+ throw new CoolException("鏉＄爜搴撳瓨宸插瓨鍦細" + barcode);
+ }
+
+ // 閫氳繃鎵�鏈夋鏌ワ紝纭涓虹┖鎵樼洏锛岃缃负绌烘墭鍏ュ簱
+ ioType = 10;
+ log.info("纭涓虹┖鎵樼洏锛岃缃负绌烘墭鍏ュ簱锛屾潯鐮侊細{}锛宨oType锛歿}", barcode, ioType);
+ break;
+ default:
+ throw new CoolException("鍏ュ簱绫诲瀷閿欒,type锛�" + type);
+ }
+ // 鏉＄爜瀛樺湪agv浠诲姟
+ int count = taskService.selectCount(new EntityWrapper<Task>().eq("barcode", barcode));
+ if (count > 0) {
+ throw new CoolException(barcode+ "锛氭潯鐮佸瓨鍦╝gv鎼繍浠诲姟!");
+ }
+
+ // 鏍规嵁whs_type閫夋嫨绔欑偣鍜屾満鍣ㄤ汉缁�
+ Long whsType = locCache.getWhsType();
+ List<String> targetStations;
+ String robotGroup;
+
+ if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getInboundArea())) {
+ // whs_type = 1: 鍏ュ簱鍖猴紝浣跨敤涓滀晶绔欑偣鍜孏roup-001
+ targetStations = agvProperties.getEastStations();
+ robotGroup = agvProperties.getRobotGroupEast();
+ log.info("搴撲綅whs_type={}锛屼娇鐢ㄥ叆搴撳尯閰嶇疆锛堜笢渚х珯鐐瑰拰Group-001锛�", whsType);
+ } else if (whsType != null && whsType.equals(agvProperties.getWhsTypeMapping().getCacheArea())) {
+ // whs_type = 2: 缂撳瓨鍖猴紝浣跨敤瑗夸晶绔欑偣鍜孏roup-002
+ targetStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ log.info("搴撲綅whs_type={}锛屼娇鐢ㄧ紦瀛樺尯閰嶇疆锛堣タ渚х珯鐐瑰拰Group-002锛�", whsType);
+ } else {
+ // whs_type涓虹┖鎴栧叾浠栧�硷紝鏍规嵁type鍒ゆ柇锛堝吋瀹规棫閫昏緫锛�
+ if (type == 1) {
+ targetStations = agvProperties.getEastStations();
+ robotGroup = agvProperties.getRobotGroupEast();
+ } else {
+ targetStations = agvProperties.getWestStations();
+ robotGroup = agvProperties.getRobotGroupWest();
+ }
+ log.warn("搴撲綅whs_type={}鏈厤缃垨涓嶅湪鏄犲皠鑼冨洿鍐咃紝浣跨敤type={}鐨勯粯璁ら�昏緫", whsType, type);
+ }
+
+ // 灏嗙珯鐐瑰瓧绗︿覆鍒楄〃杞崲涓烘暣鏁板垪琛�
+ List<Integer> siteIntList = targetStations.stream()
+ .map(Integer::parseInt)
+ .collect(Collectors.toList());
+
+ // 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("in_enable", "Y") // in_enable鏄兘鍏�
+ .in("dev_no", siteIntList)
+ ).stream().map(BasDevp::getDevNo).collect(Collectors.toList());
+
+ if (sites.isEmpty()) {
+ throw new CoolException("娌℃湁鑳藉叆绔欑偣,whs_type锛�" + whsType + ",type锛�" + type);
+ }
+
+ // 鑾峰彇娌℃湁鍑哄簱浠诲姟鐨勭珯鐐�
+ List<Integer> canInSites = basDevpMapper.getCanInSites(sites);
+ if (canInSites.isEmpty()) {
+ throw new CoolException("璇风瓑寰呭嚭搴撳畬鎴�,type:" + type);
+ }
+
+ // 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));
+
+ // 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);
+
+
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
+ // 淇濆瓨宸ヤ綔妗�
+ Task task = new Task();
+ Date now = new Date();
+ task.setWrkNo(workNo)
+ .setIoTime(now)
+ .setWrkSts(7L) // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ .setIoType(ioType) // 鍏ュ嚭搴撶姸鎬侊細 1.鍏ュ簱
+ .setTaskType("agv")
+ .setIoPri(10D)
+ .setStaNo(String.valueOf(endSite))
+ .setSourceStaNo(sourceSite) // 璁剧疆婧愮珯鐐�
+ .setInvWh(robotGroup) // 鏍规嵁whs_type璁剧疆鏈哄櫒浜虹粍
+ .setFullPlt(ioType != 10 ? "N" : "Y")// 婊℃澘锛歒
+ .setPicking("N") // 鎷ｆ枡
+ .setExitMk("N")// 閫�鍑�
+ .setSourceLocNo(locCache.getLocNo()) // 璁剧疆婧愬簱浣嶇紪鍙凤紝鐢ㄤ簬AGV fromBin
+ .setEmptyMk(ioType == 10 ? "Y" : "N")// 绌烘澘
+ .setBarcode(barcode)// 鎵樼洏鐮�
+ .setLinkMis("N")
+ .setAppeTime(now)
+ .setModiTime(now);
+ if (!taskService.insert(task)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+
+ // 鏇存柊鏆傚瓨浣嶇姸鎬佷负 R.鍑哄簱棰勭害
+ basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(sourceSite)), "R");
+ return R.ok("agv浠诲姟鐢熸垚鎴愬姛!");
+
+ }
@Override
@Transactional
@@ -601,9 +883,9 @@
if (Cools.isEmpty(mat)) {
throw new CoolException(detlDto.getMatnr() + "鍟嗗搧妗ｆ涓嶅瓨鍦�");
}
- if (mat.getUpQty().compareTo(detlDto.getAnfme()) < 0) {
- throw new CoolException("鐗╂枡锛�" + detlDto.getMatnr() + "鍗曟鏈�澶х粍鎵樹笂闄愪负锛�" + mat.getUpQty());
- }
+// if (mat.getUpQty().compareTo(detlDto.getAnfme()) < 0) {
+// throw new CoolException("鐗╂枡锛�" + detlDto.getMatnr() + "鍗曟鏈�澶х粍鎵樹笂闄愪负锛�" + mat.getUpQty());
+// }
WaitPakin waitPakin = new WaitPakin();
BeanUtils.copyProperties(mat, waitPakin);
waitPakin.setBatch(detlDto.getBatch());
--
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