From 73e42333948a8143c54218cd26435c2233daf279 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期五, 16 一月 2026 14:13:14 +0800
Subject: [PATCH] agv出入库逻辑
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 178 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 173 insertions(+), 5 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 cbada90..3529881 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -6,6 +6,8 @@
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.TaskLog;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.mapper.BasDevpMapper;
import com.zy.asrs.mapper.BasStationMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.ApiLogService;
@@ -20,11 +22,9 @@
import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicInteger;
import java.util.stream.Collectors;
/**
@@ -52,7 +52,16 @@
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<>();
/**
* 鍛煎彨agv鎼繍
@@ -64,6 +73,56 @@
}
for (Task task : taskList) {
+ // 濡傛灉浠诲姟娌℃湁鍒嗛厤绔欑偣锛屽厛鍒嗛厤绔欑偣
+ String staNo = task.getStaNo();
+ if (staNo == null || staNo.isEmpty()) {
+ Integer allocatedSite = allocateSiteForTask(task);
+ if (allocatedSite == null) {
+ log.warn("浠诲姟ID锛歿}鏃犳硶鍒嗛厤绔欑偣锛岃烦杩囨湰娆″彂閫�", task.getId());
+ continue; // 鏃犳硶鍒嗛厤绔欑偣锛岃烦杩囨湰娆″彂閫�
+ }
+ staNo = String.valueOf(allocatedSite);
+ task.setStaNo(staNo);
+ taskService.updateById(task);
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), staNo);
+ }
+
+ // 妫�鏌ョ洰鏍囩珯鐐规槸鍚︽湁姝ｅ湪鎼繍鐨勫悓绫诲瀷AGV浠诲姟锛堝嚭搴撳拰鍏ュ簱浜掍笉骞叉壈锛�
+ // 鍙湁鐘舵��8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級鐨勪换鍔℃墠浼氶樆濉烇紝鐘舵��7锛堝緟鍛煎彨锛夌殑浠诲姟涓嶉樆濉�
+ // 杩欐牱鍙互閬垮厤鎵�鏈変换鍔￠兘鍗″湪鍛煎彨鐘舵�侊紝鎸塱d鏈�灏忕殑浼樺厛鍛煎彨
+ if (staNo != null && !staNo.isEmpty() && task.getIoType() != null) {
+ // 鏍规嵁褰撳墠浠诲姟绫诲瀷锛屽彧妫�鏌ュ悓绫诲瀷鐨勬鍦ㄦ惉杩愪换鍔★紙鐘舵��8锛�
+ // 鍏ュ簱浠诲姟锛坕oType < 100锛夛細鍙鏌ュ叆搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ // 鍑哄簱浠诲姟锛坕oType >= 100锛夛細鍙鏌ュ嚭搴撶被鍨嬬殑姝ｅ湪鎼繍浠诲姟
+ List<Integer> ioTypes;
+ String taskType;
+ if (task.getIoType() < 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�
+ ioTypes = Arrays.asList(1, 10, 53, 57);
+ taskType = "鍏ュ簱";
+ } else {
+ // 鍑哄簱浠诲姟锛氬彧妫�鏌ュ嚭搴撶被鍨嬶紙101, 110, 103, 107锛�
+ ioTypes = Arrays.asList(101, 110, 103, 107);
+ taskType = "鍑哄簱";
+ }
+
+ // 鍙鏌ョ姸鎬佷负8锛堝凡鍛煎彨AGV锛屾鍦ㄦ惉杩愶級鐨勫悓绫诲瀷浠诲姟
+ 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", ioTypes)
+ .ne("id", task.getId()) // 鎺掗櫎褰撳墠浠诲姟鏈韩
+ );
+
+ if (!transportingTasks.isEmpty()) {
+ log.info("绔欑偣{}鏈墈}涓鍦ㄦ惉杩愮殑{}AGV浠诲姟锛岃烦杩囨湰娆″彂閫侊紝绛夊緟鎼繍瀹屾垚銆傚綋鍓嶄换鍔D锛歿}",
+ staNo, transportingTasks.size(), taskType, task.getId());
+ continue; // 璺宠繃鏈鍙戦�侊紝绛夊緟涓嬫
+ }
+ }
+
// 鍛煎彨agv
String response = "";
boolean success = false;
@@ -197,6 +256,115 @@
}
/**
+ * 涓轰换鍔″垎閰嶇珯鐐癸紙瀹氭椂浠诲姟涓皟鐢級
+ * @param task 浠诲姟瀵硅薄
+ * @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 Integer allocateSiteForTask(Task task) {
+ // 鏍规嵁浠诲姟鐨刬nvWh锛堟満鍣ㄤ汉缁勶級鍒ゆ柇鏄笢渚ц繕鏄タ渚�
+ String robotGroup = task.getInvWh();
+ List<String> targetStations;
+ String groupKey;
+
+ if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupEast())) {
+ // 涓滀晶绔欑偣
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ } else if (robotGroup != null && robotGroup.equals(agvProperties.getRobotGroupWest())) {
+ // 瑗夸晶绔欑偣
+ targetStations = agvProperties.getWestStations();
+ groupKey = "west";
+ } else {
+ // 榛樿浣跨敤涓滀晶
+ targetStations = agvProperties.getEastStations();
+ groupKey = "east";
+ log.warn("浠诲姟ID锛歿}鐨勬満鍣ㄤ汉缁剓}鏈瘑鍒紝浣跨敤榛樿涓滀晶绔欑偣", task.getId(), robotGroup);
+ }
+
+ if (targetStations.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙敤鐨勭洰鏍囩珯鐐归厤缃�", task.getId());
+ return null;
+ }
+
+ // 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("dev_no", siteIntList)
+ ).stream().map(BasDevp::getDevNo).collect(Collectors.toList());
+
+ if (sites.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鑳藉叆绔欑偣", task.getId());
+ return null;
+ }
+
+ // 鑾峰彇娌℃湁鍑哄簱浠诲姟鐨勭珯鐐�
+ List<Integer> canInSites = basDevpMapper.getCanInSites(sites);
+ if (canInSites.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛堣绛夊緟鍑哄簱瀹屾垚锛�", task.getId());
+ return null;
+ }
+
+ // 瀵绘壘鍏ュ簱浠诲姟鏈�灏戠殑绔欑偣锛堜笖蹇呴』in_enable="Y"鑳藉叆 鍜� canining="Y"鍙叆锛�
+ List<BasDevp> devList = basDevpMapper.selectList(new EntityWrapper<BasDevp>()
+ .in("dev_no", canInSites)
+ .eq("in_enable", "Y")
+ .eq("canining", "Y")
+ );
+
+ if (devList.isEmpty()) {
+ log.warn("浠诲姟ID锛歿}娌℃湁鍙叆绔欑偣锛坕n_enable='Y'涓攃anining='Y'锛�", task.getId());
+ return null;
+ }
+
+ // 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 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
+ 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();
+
+ // 鍏ュ簱鏆傚瓨+1
+ basDevpMapper.incrementInQty(endSite);
+
+ log.info("浠诲姟ID锛歿}宸插垎閰嶇珯鐐癸細{}", task.getId(), endSite);
+ return endSite;
+ }
+
+ /**
* 鏍规嵁绔欑偣缂栧彿鍒ゆ柇鏈哄櫒浜虹粍
* @param staNo 绔欑偣缂栧彿
* @return 鏈哄櫒浜虹粍鍚嶇О
--
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