From d7020a8f1ec6f55167b4ad14941de0e28ce3d8c1 Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期五, 16 一月 2026 14:19:59 +0800
Subject: [PATCH] agv出库逻辑
---
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 91 ++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 80 insertions(+), 11 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 60afb65..458f54b 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -87,19 +87,38 @@
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︽湁鏈畬鎴愮殑AGV浠诲姟
- // 濡傛灉绔欑偣鏈夋湭瀹屾垚鐨勪换鍔★紝鍒欒烦杩囨湰娆″彂閫侊紝绛夊緟涓嬫
- if (staNo != null && !staNo.isEmpty()) {
- List<Task> unfinishedTasks = taskService.selectList(new EntityWrapper<Task>()
+ // 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
- .last("AND wrk_sts NOT IN (5, 15)") // 鎺掗櫎宸插畬鎴愮姸鎬�
);
- if (!unfinishedTasks.isEmpty()) {
- log.info("绔欑偣{}鏈墈}涓湭瀹屾垚鐨凙GV浠诲姟锛岃烦杩囨湰娆″彂閫侊紝绛夊緟浠诲姟瀹屾垚銆傚綋鍓嶄换鍔D锛歿}",
- staNo, unfinishedTasks.size(), task.getId());
+ 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
}
}
@@ -303,15 +322,65 @@
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();
+
+ 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);
+ taskTypeName = "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�
+ checkIoTypes = Arrays.asList(101, 110, 103, 107);
+ taskTypeName = "鍑哄簱";
+ }
+
+ // 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
+ 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)
+ );
+
+ 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�",
+ staNo, transportingTasks.size(), taskTypeName);
+ }
+ }
+ } 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;
+ }
+
+ // 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�",
+ task.getId(), taskIoType != null && taskIoType < 100 ? "鍏ュ簱" : "鍑哄簱");
+ return null;
+ }
+
// 鍏ュ簱浠诲姟鏁版帓搴�
- devList.sort(Comparator.comparing(BasDevp::getInQty));
+ availableDevList.sort(Comparator.comparing(BasDevp::getInQty));
// 閫夋嫨绔欑偣
BasDevp basDevp;
- int minInQty = devList.get(0).getInQty();
+ 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 = devList.stream()
+ List<BasDevp> minTaskSites = availableDevList.stream()
.filter(dev -> dev.getInQty() == minInQty)
.collect(Collectors.toList());
--
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