From 46168fbb7c925b0ec04def176095e967720e684a Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期五, 16 一月 2026 15:22:07 +0800
Subject: [PATCH] agv查询修复
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 122 ++++++++++++++++++++++------------------
1 files changed, 67 insertions(+), 55 deletions(-)
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 458f54b..4349f98 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -322,14 +322,14 @@
return null;
}
- // 鎺掗櫎鏈夋鍦ㄦ惉杩愪换鍔＄殑绔欑偣锛堢姸鎬�8锛氬凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級
- List<BasDevp> availableDevList = new ArrayList<>();
- Integer taskIoType = task.getIoType();
+ // 鍏堟寜瑙勫垯鎺掑簭锛堝叆搴撲换鍔℃暟鎺掑簭锛�
+ devList.sort(Comparator.comparing(BasDevp::getInQty));
+ // 鏍规嵁浠诲姟绫诲瀷纭畾瑕佹鏌ョ殑io_type鍒楄〃
+ Integer taskIoType = task.getIoType();
+ List<Integer> checkIoTypes = null;
+ String taskTypeName = "";
if (taskIoType != null) {
- // 鏍规嵁浠诲姟绫诲瀷纭畾瑕佹鏌ョ殑io_type鍒楄〃
- List<Integer> checkIoTypes;
- String taskTypeName;
if (taskIoType < 100) {
// 鍏ュ簱浠诲姟锛氬彧妫�鏌ュ叆搴撶被鍨嬶紙1, 10, 53, 57锛�
checkIoTypes = Arrays.asList(1, 10, 53, 57);
@@ -339,11 +339,54 @@
checkIoTypes = Arrays.asList(101, 110, 103, 107);
taskTypeName = "鍑哄簱";
}
+ }
+
+ // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃锛堟寜瑙勫垯鎺掑簭鍚庣殑鍊欓�夌珯鐐癸級
+ int minInQty = devList.get(0).getInQty();
+ 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锛岀‘瀹氫紭鍏堝垎閰嶇殑绔欑偣椤哄簭
+ List<BasDevp> orderedSites = new ArrayList<>();
+ String strategy = agvProperties.getSiteAllocation().getStrategy();
+ boolean enableRoundRobin = agvProperties.getSiteAllocation().isEnableRoundRobin();
+
+ if (minTaskSites.size() > 1 && enableRoundRobin && "round-robin".equals(strategy)) {
+ // 杞鍒嗛厤锛氬厛鎸夎疆璇㈢瓥鐣ユ帓搴�
+ AtomicInteger counter = siteRoundRobinCounters.computeIfAbsent(groupKey, k -> new AtomicInteger(0));
+ int startIndex = counter.get() % minTaskSites.size();
+ // 灏嗚疆璇㈤�変腑鐨勭珯鐐规斁鍦ㄦ渶鍓嶉潰
+ orderedSites.addAll(minTaskSites.subList(startIndex, minTaskSites.size()));
+ orderedSites.addAll(minTaskSites.subList(0, startIndex));
+ // 娣诲姞鍏朵粬绔欑偣锛堜换鍔℃暟鏇村鐨勶級
+ orderedSites.addAll(devList.stream()
+ .filter(dev -> dev.getInQty() > minInQty)
+ .collect(Collectors.toList()));
+ 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)) {
+ // 闅忔満鍒嗛厤锛氬厛闅忔満鎺掑簭浠诲姟鏁版渶灏戠殑绔欑偣
+ List<BasDevp> shuffledMinSites = new ArrayList<>(minTaskSites);
+ Collections.shuffle(shuffledMinSites);
+ orderedSites.addAll(shuffledMinSites);
+ // 娣诲姞鍏朵粬绔欑偣锛堜换鍔℃暟鏇村鐨勶級
+ 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忥紙宸茬粡鎺掑簭濂戒簡锛�
+ 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
+ BasDevp selectedSite = null;
+ for (BasDevp dev : orderedSites) {
+ String staNo = String.valueOf(dev.getDevNo());
- // 妫�鏌ユ瘡涓珯鐐规槸鍚︽湁姝ｅ湪鎼繍鐨勫悓绫诲瀷浠诲姟
- for (BasDevp dev : devList) {
- String staNo = String.valueOf(dev.getDevNo());
- // 鏌ヨ璇ョ珯鐐规槸鍚︽湁鐘舵��8锛堟鍦ㄦ惉杩愶級鐨勫悓绫诲瀷浠诲姟
+ // 濡傛灉浠诲姟绫诲瀷涓嶄负绌猴紝妫�鏌ヨ绔欑偣鏄惁鏈夋鍦ㄦ惉杩愮殑鍚岀被鍨嬩换鍔�
+ boolean isTransporting = false;
+ if (checkIoTypes != null && !checkIoTypes.isEmpty()) {
List<Task> transportingTasks = taskService.selectList(
new EntityWrapper<Task>()
.eq("sta_no", staNo)
@@ -351,61 +394,29 @@
.eq("wrk_sts", 8L) // 鍙鏌ユ鍦ㄦ惉杩愮姸鎬佺殑浠诲姟
.in("io_type", checkIoTypes)
);
+ isTransporting = !transportingTasks.isEmpty();
- if (transportingTasks.isEmpty()) {
- // 璇ョ珯鐐规病鏈夋鍦ㄦ惉杩愮殑浠诲姟锛屽彲浠ュ垎閰�
- availableDevList.add(dev);
- } else {
- log.debug("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛岃烦杩囧垎閰�",
+ if (isTransporting) {
+ log.debug("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛屾鏌ヤ笅涓�涓珯鐐�",
staNo, transportingTasks.size(), taskTypeName);
+ continue; // 璇ョ珯鐐规鍦ㄦ惉杩愶紝妫�鏌ヤ笅涓�涓珯鐐�
}
}
- } else {
- // 濡傛灉ioType涓虹┖锛屼笉杩涜杩囨护锛堜繚鎸佸師鏈夐�昏緫锛�
- availableDevList = devList;
+
+ // 鎵惧埌绗竴涓┖闂茬珯鐐癸紝鍒嗛厤
+ selectedSite = dev;
+ log.info("浠诲姟ID锛歿}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�", task.getId(), 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 (availableDevList.isEmpty()) {
- log.warn("浠诲姟ID锛歿}鐨勬墍鏈夊�欓�夌珯鐐归兘鏈夋鍦ㄦ惉杩愮殑{}浠诲姟锛屾殏涓嶅垎閰嶇珯鐐�",
+ if (selectedSite == null) {
+ log.warn("浠诲姟ID锛歿}鐨勬墍鏈夊�欓�夌珯鐐归兘鏈夋鍦ㄦ惉杩愮殑{}浠诲姟锛屾殏涓嶅垎閰嶇珯鐐癸紝绛夊緟绌洪棽",
task.getId(), taskIoType != null && taskIoType < 100 ? "鍏ュ簱" : "鍑哄簱");
return null;
}
- // 鍏ュ簱浠诲姟鏁版帓搴�
- availableDevList.sort(Comparator.comparing(BasDevp::getInQty));
-
- // 閫夋嫨绔欑偣
- BasDevp basDevp;
- int minInQty = availableDevList.get(0).getInQty();
-
- // 绛涢�夊嚭浠诲姟鏁版渶灏戠殑绔欑偣鍒楄〃
- List<BasDevp> minTaskSites = availableDevList.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
- 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);
- }
-
- Integer endSite = basDevp.getDevNo();
+ Integer endSite = selectedSite.getDevNo();
// 鍏ュ簱鏆傚瓨+1
basDevpMapper.incrementInQty(endSite);
@@ -445,10 +456,11 @@
@Transactional(rollbackFor = Exception.class)
public void moveTaskToHistory(List<Task> taskList) {
- // 鍐欏叆鍘嗗彶琛�
+ // 鍐欏叆鍘嗗彶琛紝淇濇寔ID涓�鑷�
for (Task task : taskList) {
TaskLog log = new TaskLog();
BeanUtils.copyProperties(task, log);
+ // 淇濇寔ID涓�鑷达紝涓嶈缃负null
taskLogService.insert(log);
}
--
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