package com.zy.acs.manager.core.service;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import com.zy.acs.framework.exception.CoolException;
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import com.zy.acs.common.domain.AgvAction;
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import com.zy.acs.common.domain.AgvActionItem;
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import com.zy.acs.common.domain.AgvProtocol;
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import com.zy.acs.common.domain.BaseResult;
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import com.zy.acs.common.domain.protocol.AGV_11_UP;
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import com.zy.acs.common.domain.protocol.AGV_70_UP;
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import com.zy.acs.common.domain.protocol.IMessageBody;
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import com.zy.acs.common.domain.protocol.action.*;
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import com.zy.acs.common.enums.*;
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import com.zy.acs.common.utils.Utils;
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import com.zy.acs.manager.common.domain.TaskDto;
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import com.zy.acs.manager.common.exception.BusinessException;
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import com.zy.acs.manager.core.domain.AgvBackpackDto;
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import com.zy.acs.manager.core.domain.TaskPosDto;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.*;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.concurrent.TimeUnit;
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import java.util.concurrent.locks.ReentrantLock;
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import java.util.stream.Collectors;
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/**
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* Created by vincent on 2023/6/14
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*/
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@Slf4j
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@Component("mainService")
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public class MainService {
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private static final int LOCK_TIMEOUT = 5;
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private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
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@Autowired
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private BusService busService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private ActionService actionService;
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@Autowired
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private StaService staService;
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@Autowired
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private LocService locService;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private ValidService validService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private CodeGapService codeGapService;
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@Autowired
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private AgvCmdService agvCmdService;
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@Autowired
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private FuncStaService funcStaService;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private TravelService travelService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private TrafficService trafficService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private MissionAssignService missionAssignService;
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@SuppressWarnings("all")
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@Transactional
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public void generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
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String batch = busSubmitParam.getBatch();
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List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
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if (Cools.isEmpty(taskDtoList)) {
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throw new BusinessException("taskDtoList 不能为空");
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}
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// 优先级排序
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taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
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// 校验
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List<Task> taskList = validService.validBusDto(taskDtoList);
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// 保存总线
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Date now = new Date();
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Bus bus = new Bus();
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bus.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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bus.setSeqNum(batch);
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bus.setStartTime(now);
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bus.setBusSts(BusStsType.RECEIVE.val());
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bus.setMemo(memo);
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if (!busService.save(bus)) {
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throw new BusinessException("任务保存失败");
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}
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// 保存任务
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for (Task task : taskList) {
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task.setBusId(bus.getId());
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task.setTaskSts(TaskStsType.INIT.val());
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if (!taskService.save(task)) {
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throw new BusinessException(task.getSeqNum() + "任务保存失败");
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}
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// 修改库位状态
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Loc oriLoc = null;
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Loc destLoc = null;
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Sta oriSta = null;
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Sta destSta = null;
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switch (TaskTypeType.get(task.getTaskTypeEl())) {
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case LOC_TO_LOC:
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oriLoc = locService.getById(task.getOriLoc());
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if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
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throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
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}
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oriLoc.setLocSts(LocStsType.PAKOUT.val());
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oriLoc.setUpdateTime(now);
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if (!locService.updateById(oriLoc)) {
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throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
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}
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destLoc = locService.getById(task.getDestLoc());
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if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
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throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
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}
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destLoc.setLocSts(LocStsType.PAKIN.val());
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destLoc.setUpdateTime(now);
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if (!locService.updateById(destLoc)) {
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throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
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}
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break;
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case LOC_TO_STA:
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oriLoc = locService.getById(task.getOriLoc());
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if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
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throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
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}
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oriLoc.setLocSts(LocStsType.PAKOUT.val());
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oriLoc.setUpdateTime(now);
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if (!locService.updateById(oriLoc)) {
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throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
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}
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break;
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case STA_TO_LOC:
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destLoc = locService.getById(task.getDestLoc());
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if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
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throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
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}
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destLoc.setLocSts(LocStsType.PAKIN.val());
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destLoc.setUpdateTime(now);
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if (!locService.updateById(destLoc)) {
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throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
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}
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break;
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case STA_TO_STA:
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break;
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default:
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break;
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}
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}
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}
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/**
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* 任务分配给车辆 ( 车辆此时是空闲且静止的 )
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*/
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@Transactional
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public synchronized void infuseAgvForTask(Bus bus) {
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try {
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Date now = new Date();
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List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
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.eq(Task::getBusId, bus.getId())
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.eq(Task::getTaskSts, TaskStsType.INIT.val())
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.orderByDesc(Task::getPriority)
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);
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if (Cools.isEmpty(taskList)) {
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bus.setBusSts(BusStsType.PROGRESS.val());
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bus.setUpdateTime(now);
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if (!busService.updateById(bus)) {
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log.error("Bus [{}] 更新失败 ！！！", bus.getUuid());
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}
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return;
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}
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List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
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Map<String, List<Long>> taskAllot = new HashMap<>();
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for (Task task : taskList) {
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Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
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if (null == agv) {
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log.warn("{}任务异常，无法检索空闲Agv...", task.getSeqNum());
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continue;
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}
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task.setAgvId(agv.getId());
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task.setTaskSts(TaskStsType.WAITING.val());
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task.setIoTime(now);
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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throw new BusinessException(task.getSeqNum() + "任务更新失败");
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}
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if (taskAllot.containsKey(agv.getUuid())) {
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taskAllot.get(agv.getUuid()).add(task.getId());
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} else {
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taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
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}
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}
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// bus.setUpdateTime(now);
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// if (!busService.updateById(bus)) {
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// throw new BusinessException(bus.getSeqNum() + "总线更新失败");
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// }
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} catch (Exception e) {
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log.error("mainService.infuseAgvForTask", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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/**
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* 解析取放货集合任务,进行最优的排列组合顺序 ( 车辆此时是空闲且静止的 )
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*/
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@Transactional
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public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
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if (Cools.isEmpty(taskList)) { return; }
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boolean lockAcquired = false;
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try {
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if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
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throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
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}
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Date now = new Date();
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final String sameGroupXy = configService.getVal( "sameGroupXy");
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Agv agv = agvService.getById(agvId);
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if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
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throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
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}
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if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
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throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务...");
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
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assert agvDetail != null;
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if (agvDetail.getPos() == 0) {
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if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
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throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
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}
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}
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// sort and sub
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taskList.sort(new Comparator<Task>() {
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@Override
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public int compare(Task o1, Task o2) {
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return 0;
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}
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});
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if (taskList.size() > agv.getStage()) {
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taskList = taskList.subList(0, agv.getStage());
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}
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/**
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* single agvId
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*
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* key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
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* val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
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*/
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Map<String, List<TaskPosDto>> groups = new HashMap<>();
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List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
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int backpackLev = 0;
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for (Task task : taskList) {
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backpackLev ++;
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Code startCode = null;
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Code endCode = null;
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Loc oriLoc = null; Loc destLoc = null;
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Sta oriSta = null; Sta destSta = null;
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switch (Objects.requireNonNull(TaskTypeType.get(task.getTaskTypeEl()))) {
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case LOC_TO_LOC:
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oriLoc = locService.getById(task.getOriLoc());
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destLoc = locService.getById(task.getDestLoc());
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startCode = codeService.getById(oriLoc.getCode());
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endCode = codeService.getById(destLoc.getCode());
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TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
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TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
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break;
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case LOC_TO_STA:
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oriLoc = locService.getById(task.getOriLoc());
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destSta = staService.getById(task.getDestSta());
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startCode = codeService.getById(oriLoc.getCode());
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endCode = codeService.getById(destSta.getCode());
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TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
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TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
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break;
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case STA_TO_LOC:
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oriSta = staService.getById(task.getOriSta());
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destLoc = locService.getById(task.getDestLoc());
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startCode = codeService.getById(oriSta.getCode());
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endCode = codeService.getById(destLoc.getCode());
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TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
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TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
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break;
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case STA_TO_STA:
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oriSta = staService.getById(task.getOriSta());
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destSta = staService.getById(task.getDestSta());
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startCode = codeService.getById(oriSta.getCode());
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endCode = codeService.getById(destSta.getCode());
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TaskPosDto.packagePosGroup(groups, task, startCode, TaskPosDto.PosType.ORI_STA, sameGroupXy);
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TaskPosDto.packagePosGroup(groups, task, endCode, TaskPosDto.PosType.DEST_STA, sameGroupXy);
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break;
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default:
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throw new BusinessException(task.getSeqNum() + "任务类型错误");
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}
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if (backpackLev > agv.getStage()) {
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throw new BusinessException("解析Task失败,AGV背篓已满......");
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}
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backpackDtoList.add(new AgvBackpackDto(backpackLev, task.getId()));
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}
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/**
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* List<TaskPosDto>: task list on the same channel
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* ArrayList<List<TaskPosDto>>: all the task list by one agv
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*/
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ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
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list.sort((o1, o2) -> {
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double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset;
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double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
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return (int) (o1CompVal - o2CompVal);
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});
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for (List<TaskPosDto> taskPosDtoList : list) {
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taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
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}
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// generate travel
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Travel travel = new Travel();
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travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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travel.setAgvId(agvId);
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travel.setTaskContent(JSON.toJSONString(list));
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travel.setTaskIds(JSON.toJSONString(taskList.stream().map(Task::getId).collect(Collectors.toList())));
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travel.setState(TravelStateType.RUNNING.toString());
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if (!travelService.save(travel)) {
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throw new BusinessException("任务组保存失败");
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}
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// generate segment
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int segSerial = 0;
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List<Segment> segmentList = new ArrayList<>();
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for (List<TaskPosDto> dtoList : list) {
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for (TaskPosDto taskPosDto : dtoList) {
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segSerial ++;
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AgvBackpackType backpackType = AgvBackpackDto.find(backpackDtoList, taskPosDto.getTaskId());
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assert null != backpackType;
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Segment segment = new Segment();
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segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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segment.setTravelId(travel.getId());
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segment.setAgvId(agvId);
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segment.setTaskId(taskPosDto.getTaskId());
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segment.setSerial(segSerial);
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segment.setEndNode(taskPosDto.getCodeId());
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segment.setPosType(taskPosDto.getPosType().toString());
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segment.setBackpack(backpackType.lev);
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segment.setState(SegmentStateType.INIT.toString());
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segmentList.add(segment);
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}
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}
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for (int i = 0; i < segmentList.size(); i++) {
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Segment segment = segmentList.get(i);
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if (i == 0) {
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segment.setState(SegmentStateType.WAITING.toString());
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}
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if (!segmentService.save(segment)) {
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throw new BusinessException("任务组保存失败");
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}
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}
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// task
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for (Task task : taskList) {
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task.setTaskSts(TaskStsType.ASSIGN.val());
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task.setUpdateTime(now);
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if (!taskService.updateById(task)) {
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throw new BusinessException(task.getUuid() + "任务更新失败");
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}
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}
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} catch (Exception e) {
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log.error("mainService.mergeMajorTask[task]", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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} finally {
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if (lockAcquired) {
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this.lock.unlock();
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}
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}
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}
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/**
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* 充电 回待机位任务
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*/
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@Transactional
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public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
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if (Cools.isEmpty(agv, taskType)) { return false; }
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boolean lockAcquired = false;
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try {
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if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
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throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
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}
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if (null == agvDetail) {
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agvDetail = agvDetailService.selectByAgvId(agv.getId());
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}
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if (!agvService.judgeEnable(agv.getId())) {
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return false;
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}
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Date now = new Date();
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Code endCode = null;
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switch (taskType) {
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case TO_CHARGE:
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case TO_STANDBY:
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List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
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.eq(FuncSta::getType, FuncStaType.query(taskType).toString())
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.eq(FuncSta::getAgvId, agv.getId())
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.eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
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.eq(FuncSta::getStatus, StatusType.ENABLE.val)
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);
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if (!Cools.isEmpty(funcStaList)) {
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FuncSta funcSta = funcStaList.get(0);
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endCode = codeService.getById(funcSta.getCode());
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}
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break;
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case MOVE:
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endCode = codeService.selectByData(destination);
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break;
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default:
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return false;
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}
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if (null == endCode) {
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log.error("{}号车辆建立功能任务失败，无法检索到目标定位，TaskTypeType：{}", agv.getUuid(), taskType.toString());
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return false;
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}
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Task task = new Task();
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task.setAgvId(agv.getId());
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task.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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List<Task> lastTasks = taskService.list(new LambdaQueryWrapper<Task>().orderByDesc(Task::getId));
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task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
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task.setOriCode(agvDetail.getCode());
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task.setDestCode(endCode.getId());
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task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
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task.setTaskSts(TaskStsType.ASSIGN.val());
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task.setTaskType(taskType.val());
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task.setIoTime(now);
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task.setStartTime(now);
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if (!taskService.save(task)) {
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throw new BusinessException(task.getSeqNum() + "任务保存失败");
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}
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// generate travel
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Travel travel = new Travel();
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travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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travel.setAgvId(agv.getId());
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// travel.setTaskContent(JSON.toJSONString(list));
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travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
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travel.setState(TravelStateType.RUNNING.toString());
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if (!travelService.save(travel)) {
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throw new BusinessException("任务组保存失败");
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}
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// generate segment
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int segSerial = 0; segSerial ++;
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List<Segment> segmentList = new ArrayList<>();
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String posType = "";
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switch (taskType){
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case TO_CHARGE:
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posType = TaskPosDto.PosType.TO_CHARGE.toString();
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break;
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case TO_STANDBY:
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posType = TaskPosDto.PosType.TO_STANDBY.toString();
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break;
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case MOVE:
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posType = TaskPosDto.PosType.MOVE.toString();
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break;
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default:
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break;
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}
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Segment segment = new Segment();
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segment.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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segment.setTravelId(travel.getId());
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segment.setAgvId(agv.getId());
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segment.setTaskId(task.getId());
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segment.setSerial(segSerial);
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segment.setEndNode(endCode.getId());
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segment.setPosType(posType);
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segment.setState(SegmentStateType.INIT.toString());
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segmentList.add(segment);
|
|
for (int i = 0; i < segmentList.size(); i++) {
|
Segment next = segmentList.get(i);
|
if (i == 0) {
|
next.setState(SegmentStateType.WAITING.toString());
|
}
|
if (!segmentService.save(next)) {
|
throw new BusinessException("任务组保存失败");
|
}
|
}
|
|
switch (taskType) {
|
case TO_CHARGE:
|
case TO_STANDBY:
|
// funcSta
|
FuncSta destFuncSta = funcStaService.getByCodeAndType(task.getDestCode(), FuncStaType.query(taskType).toString());
|
destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
|
destFuncSta.setUpdateTime(now);
|
if (!funcStaService.updateById(destFuncSta)) {
|
log.error("FuncSta [{}] 更新状态失败 ！！！", destFuncSta.getName());
|
}
|
break;
|
case MOVE:
|
break;
|
default:
|
break;
|
}
|
|
return true;
|
} catch (Exception e) {
|
log.error("mainService.buildMinorTask[task]", e);
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
|
return false;
|
} finally {
|
|
if (lockAcquired) {
|
this.lock.unlock();
|
}
|
}
|
}
|
|
/**
|
* 根据分片生成动作 ( 车辆可能已经做过一些任务了,正在等待下一段任务 )
|
*/
|
@Transactional
|
public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList) {
|
try {
|
if (Cools.isEmpty(agvId, segmentList)) { return; }
|
Date now = new Date();
|
JSONObject storeDirection = JSON.parseObject(configService.getVal("storeDirection"));
|
Agv agv = agvService.getById(agvId);
|
if (!agvService.judgeEnable(agv.getId())) {
|
throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
|
}
|
|
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
|
Double workDirection = agvModel.getWorkDirection();
|
AgvSpeedType agvSpeedType = AgvSpeedType.query(agvModel.getTravelSpeed());
|
assert agvSpeedType != null;
|
|
AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
|
assert agvDetail != null;
|
if (agvDetail.getPos() == 0) {
|
if (!agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
|
throw new CoolException("AGV[" + agv.getUuid() + "]当前不在定位...");
|
}
|
}
|
|
List<Action> actionList = new ArrayList<>();
|
// start node
|
Code lastCode = codeService.getById(agvDetail.getRecentCode());
|
if (!lastCode.getData().equals(pathList.get(0))) {
|
throw new CoolException("AGV[" + agv.getUuid() + "]定位偏移...");
|
}
|
|
Double lastDirection = agvDetail.getAgvAngle();
|
boolean first = true;
|
|
for (Segment segment : segmentList) {
|
|
// 分段所属的Task
|
Task task = taskService.getById(segment.getTaskId());
|
|
// 节点条码
|
Code code = codeService.getById(segment.getEndNode());
|
|
// 需要走行
|
if (!lastCode.getData().equals(code.getData())) {
|
|
// 走行路径节点
|
// List<String> pathList = mapService.checkoutPath(agv.getUuid(), lastCode, code);
|
List<String> pathListPart = pathList.subList(pathList.indexOf(lastCode.getData()), pathList.indexOf(code.getData()) + 1);
|
|
for (int i = 0; i < pathListPart.size(); i++) {
|
if (i == 0) { continue; }
|
|
String next = pathListPart.get(i);
|
|
Code nextCode = codeService.selectByData(next);
|
Double nextDirection = mapService.calculateDirection(lastCode, nextCode);
|
|
boolean reverse = false;
|
if (nextDirection.equals((workDirection + 180) % 360)) {
|
nextDirection = workDirection;
|
reverse = true;
|
}
|
if (!lastDirection.equals(nextDirection) || actionList.size() == 0) {
|
// turn
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.TurnCorner.desc, // 名称
|
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(nextDirection), // 动作参数
|
ActionTypeType.TurnCorner.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
|
lastDirection = nextDirection;
|
|
}
|
|
// run
|
ActionTypeType actionType = ActionTypeType.StraightAheadTurnable;
|
if (reverse) {
|
actionType = ActionTypeType.StraightBackTurnable;
|
}
|
CodeGap gap = codeGapService.findByCodeOfBoth(lastCode.getId(), nextCode.getId());
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
actionType.desc, // 名称
|
(double) agvSpeedType.val, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(gap.getDistance()), // 动作参数
|
actionType.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
|
lastCode = nextCode;
|
|
}
|
|
}
|
|
// 初始方向值补丁
|
if (first) {
|
if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
|
// turn
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.TurnCorner.desc, // 名称
|
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(workDirection), // 动作参数
|
ActionTypeType.TurnCorner.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
|
lastDirection = workDirection;
|
|
}
|
first = false;
|
}
|
|
// 作业点动作
|
AgvDirectionType agvDirectionType;
|
AgvBackpackType backpackType = AgvBackpackType.query(segment.getBackpack());
|
switch (Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()))) {
|
case ORI_LOC:
|
assert backpackType != null;
|
// 检验方向
|
if (!lastDirection.equals(workDirection)) {
|
// turn
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.TurnCorner.desc, // 名称
|
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(workDirection), // 动作参数
|
ActionTypeType.TurnCorner.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
lastDirection = workDirection;
|
}
|
// 货架取货
|
Loc oriLoc = locService.getById(task.getOriLoc());
|
// 计算左右方向
|
agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, oriLoc, lastCode);
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.ReadyTakeFromShelvesLoc.desc, // 名称
|
(double) agvDirectionType.val, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(oriLoc.getOffset()), // 动作参数
|
ActionTypeType.ReadyTakeFromShelvesLoc.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
// 暂存点放货
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.ReadyReleaseToAgvSite.desc, // 名称
|
(double) backpackType.lev, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(backpackType.height), // 动作参数
|
ActionTypeType.ReadyReleaseToAgvSite.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
break;
|
case DEST_LOC:
|
assert backpackType != null;
|
// 检验方向
|
if (!lastDirection.equals(workDirection)) {
|
// turn
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.TurnCorner.desc, // 名称
|
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(workDirection), // 动作参数
|
ActionTypeType.TurnCorner.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
lastDirection = workDirection;
|
}
|
// 暂存点取货货
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.ReadyTakeFromAgvSite.desc, // 名称
|
(double) backpackType.lev, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(backpackType.height), // 动作参数
|
ActionTypeType.ReadyTakeFromAgvSite.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
|
// 货架放货
|
Loc destLoc = locService.getById(task.getDestLoc());
|
// 计算左右方向
|
agvDirectionType = mapService.calculateAgvWorkDirection(storeDirection, destLoc, lastCode);
|
actionList.add(new Action(
|
null, // 编号
|
task.getBusId(), // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.ReadyReleaseToShelvesLoc.desc, // 名称
|
(double) agvDirectionType.val, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(destLoc.getOffset()), // 动作参数
|
ActionTypeType.ReadyReleaseToShelvesLoc.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
break;
|
case ORI_STA:
|
break;
|
case DEST_STA:
|
break;
|
case TO_CHARGE:
|
// 检验方向
|
FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
|
Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
|
if (!lastDirection.equals(chargeDirection)) {
|
actionList.add(new Action(
|
null, // 编号
|
null, // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.TurnCorner.desc, // 名称
|
mapService.isTurnCorner(lastCode.getData()) ? 1D : 0D, // 属性值
|
lastCode.getData(), // 地面码
|
String.valueOf(chargeDirection), // 动作参数
|
ActionTypeType.TurnCorner.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
lastDirection = chargeDirection;
|
}
|
|
// charge
|
actionList.add(new Action(
|
null, // 编号
|
null, // 总线
|
task.getId(), // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.DockingCharge.desc, // 名称
|
null, // 属性值
|
lastCode.getData(), // 地面码
|
null, // 动作参数
|
ActionTypeType.DockingCharge.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
break;
|
case TO_STANDBY:
|
// FuncSta standByFuncSta = funcStaService.query(agvId, lastCode.getId(), 2);
|
// Double standByDirection = Double.parseDouble(standByFuncSta.getAngle());
|
// if (!lastDirection.equals(standByDirection)) {
|
// actionList.add(new Action(
|
// null, // 编号
|
// null, // 总线
|
// task.getId(), // 任务
|
// null, // 动作号
|
// null, // 优先级
|
// ActionTypeType.TurnCorner.desc, // 名称
|
// null, // 属性值
|
// lastCode.getData(), // 地面码
|
// String.valueOf(standByDirection), // 动作参数
|
// ActionTypeType.TurnCorner.val(), // 动作类型
|
// ActionStsType.PREPARE.val(), // 动作进度
|
// agvId, // AGV
|
// now // 工作时间
|
// ));
|
// lastDirection = standByDirection;
|
// }
|
break;
|
case MOVE:
|
break;
|
default:
|
break;
|
}
|
|
}
|
|
// finish
|
actionList.add(new Action(
|
null, // 编号
|
null, // 总线
|
null, // 任务
|
null, // 动作号
|
null, // 优先级
|
ActionTypeType.FinishPath.desc, // 名称
|
null, // 属性值
|
lastCode.getData(), // 地面码
|
null, // 动作参数
|
ActionTypeType.FinishPath.val(), // 动作类型
|
ActionStsType.PREPARE.val(), // 动作进度
|
agvId, // AGV
|
now // 工作时间
|
));
|
|
List<Action> newActionList = new ArrayList<>(actionList);
|
|
// List<Action> optimizeList = actionService.optimizeSort(actionList);
|
|
// List<Action> newActionList = new ArrayList<>(optimizeList);
|
|
|
String groupId = String.valueOf(snowflakeIdWorker.nextId()).substring(3);
|
|
// save action
|
int i = newActionList.size();
|
for (Action action : newActionList) {
|
action.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
|
action.setGroupId(groupId);
|
action.setPriority(i);
|
if (!actionService.save(action)) {
|
throw new BusinessException(action.getName() + "动作保存失败");
|
}
|
i -= 1;
|
}
|
|
// update segment
|
for (Segment item : segmentList) {
|
item.setGroupId(groupId);
|
item.setState(SegmentStateType.RUNNING.toString());
|
item.setUpdateTime(now);
|
if (!segmentService.updateById(item)) {
|
throw new CoolException("更新Segment失败");
|
}
|
}
|
|
log.info(agv.getUuid() + "号Agv动作组装完成，指令数量：" + newActionList.size());
|
} catch (Exception e) {
|
log.error("mainService.generateAction", e);
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
|
if (!Cools.isEmpty(pathList)) {
|
pathList.remove(0);
|
mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
|
}
|
|
throw new RuntimeException("generateAction method caught an exception, rolling back transaction.", e);
|
}
|
}
|
|
@Transactional
|
public void publishAction(String actionGroupId) {
|
try {
|
Date now = new Date();
|
|
// action
|
List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
|
.eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val())
|
.orderByDesc(Action::getPriority));
|
if (Cools.isEmpty(actionList)) {
|
return;
|
}
|
for (Action action : actionList) {
|
action.setActionSts(ActionStsType.ISSUED.val());
|
action.setUpdateTime(now);
|
if (!actionService.updateById(action)) {
|
throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
|
}
|
}
|
|
// task
|
List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
|
for (Long taskId : taskIds) {
|
Task task = taskService.getById(taskId);
|
if (task.getTaskSts().equals(TaskStsType.ASSIGN.val())) {
|
task.setTaskSts(TaskStsType.PROGRESS.val());
|
task.setUpdateTime(now);
|
if (!taskService.updateById(task)) {
|
throw new BusinessException(task.getSeqNum() + "任务更新失败");
|
}
|
}
|
}
|
|
|
Agv agv = agvService.getById(actionList.get(0).getAgvId());
|
AgvAction agvAction = new AgvAction(agv.getUuid(), actionGroupId);
|
for (Action action : actionList) {
|
|
switch (Objects.requireNonNull(ActionTypeType.get(action.getActionTypeEl()))) {
|
case TurnCorner:
|
agvAction.add(new AgvActionItem<>(TurnCornerAction.class)
|
.setQrCode(action.getCode())
|
.setVal(Optional.ofNullable(action.getVal()).orElse(0D).intValue())
|
.bodySync(body -> body.setAngle((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case StraightBackUnturnable:
|
break;
|
case StraightBackTurnable:
|
agvAction.add(new AgvActionItem<>(StraightBackTurnableAction.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case StraightAheadUnturnable:
|
break;
|
case StraightAheadTurnable:
|
agvAction.add(new AgvActionItem<>(StraightAheadTurnableAction.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setDistance((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case ReadyTakeFromShelvesLoc:
|
agvAction.add(new AgvActionItem<>(ReadyTakeFromShelvesLoc.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case ReadyTakeFromAgvSite:
|
agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case ReadyReleaseToShelvesLoc:
|
agvAction.add(new AgvActionItem<>(ReadyReleaseToShelvesLoc.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case ReadyReleaseToAgvSite:
|
agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
|
.setVal(action.getVal().intValue())
|
.setQrCode(action.getCode())
|
.bodySync(body -> body.setDepth((short) Double.parseDouble(action.getParams())))
|
);
|
break;
|
case FinishPath:
|
agvAction.add(new AgvActionItem<>(FinishPathAction.class)
|
.setQrCode(action.getCode())
|
);
|
break;
|
case DockingCharge:
|
agvAction.add(new AgvActionItem<>(DockingChargeAction.class)
|
.setQrCode(action.getCode())
|
);
|
break;
|
default:
|
break;
|
}
|
|
}
|
|
BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
|
if (result.success()) {
|
log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
|
} else {
|
log.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
|
throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
|
}
|
} catch (Exception e) {
|
log.error("mainService.publishAction", e);
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
@Transactional
|
public void upDataSubscribe(AgvProtocol protocol) {
|
Date now = new Date();
|
|
Agv agv = agvService.selectByUuid(protocol.getAgvNo());
|
if (null == agv) {
|
log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
|
return;
|
}
|
|
IMessageBody msgBody = protocol.getMessageBody();
|
assert msgBody != null;
|
|
// 动作完成包
|
if (msgBody instanceof AGV_11_UP) {
|
AGV_11_UP agv_11_up = (AGV_11_UP) msgBody;
|
String serialNo = agv_11_up.getSerialNo();
|
|
log.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
|
|
// 入库放货
|
if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
|
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
|
|
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
|
if (null == loc) {
|
log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
|
} else {
|
List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
|
for (Long taskId : taskIds) {
|
Task task = taskService.getById(taskId);
|
if (task.getDestLoc().equals(loc.getId())) {
|
|
Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
|
.eq(Action::getTaskId, task.getId())
|
.eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
|
.eq(Action::getActionSts, ActionStsType.ISSUED.val())
|
);
|
|
if (null != action) {
|
action.setActionSts(ActionStsType.FINISH.val());
|
action.setUpdateTime(now);
|
if (!actionService.updateById(action)) {
|
log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
|
}
|
}
|
|
}
|
}
|
}
|
}
|
|
// 出库取货
|
if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_SHELVES_COMPLETE)) {
|
WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
|
|
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
|
if (null == loc) {
|
log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
|
} else {
|
|
List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
|
for (Long taskId : taskIds) {
|
Task task = taskService.getById(taskId);
|
if (task.getOriLoc().equals(loc.getId())) {
|
|
Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
|
.eq(Action::getTaskId, task.getId())
|
.eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
|
.eq(Action::getActionSts, ActionStsType.ISSUED.val())
|
);
|
if (null != action) {
|
action.setActionSts(ActionStsType.FINISH.val());
|
action.setUpdateTime(now);
|
if (!actionService.updateById(action)) {
|
log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
// 路径完成 || 充电完成
|
if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
|
|| agv_11_up.getCompleteType().equals(AgvCompleteType.DOCKING_CHARGE_COMPLETE)) {
|
|
// segment list
|
List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
|
.eq(Segment::getGroupId, serialNo)
|
// .eq(Segment::getState, SegmentStateType.RUNNING.toString())
|
.orderByAsc(Segment::getSerial)
|
);
|
|
// task
|
for (Segment segment : segmentList) {
|
boolean taskComplete = false;
|
|
Task task = taskService.getById(segment.getTaskId()); assert null != task;
|
TaskTypeType typeType = TaskTypeType.get(task.getTaskTypeEl()); assert null != typeType;
|
|
TaskPosDto.PosType posType = TaskPosDto.queryPosType(segment.getPosType());
|
switch (Objects.requireNonNull(posType)) {
|
case ORI_STA:
|
case ORI_LOC:
|
break;
|
case DEST_STA:
|
case DEST_LOC:
|
case TO_CHARGE:
|
case TO_STANDBY:
|
if (segment.getEndNode().equals(task.getDestCode())) {
|
taskComplete = true;
|
}
|
break;
|
case MOVE:
|
if (segment.getEndNode().equals(task.getDestCode())) {
|
if (typeType.equals(TaskTypeType.MOVE)) {
|
taskComplete = true;
|
}
|
}
|
break;
|
default:
|
break;
|
}
|
|
if (taskComplete) {
|
locService.taskCallBack(task);
|
|
task.setTaskSts(TaskStsType.COMPLETE.val());
|
task.setEndTime(now);
|
task.setUpdateTime(now);
|
if (!taskService.updateById(task)) {
|
log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
|
} else {
|
log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
|
}
|
|
}
|
}
|
|
// action
|
List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
|
.eq(Action::getGroupId, serialNo)
|
.eq(Action::getActionSts, ActionStsType.ISSUED.val())
|
);
|
for (Action action : actionList) {
|
action.setActionSts(ActionStsType.FINISH.val());
|
action.setUpdateTime(now);
|
if (!actionService.updateById(action)) {
|
log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
|
}
|
}
|
|
// segment
|
for (Segment segment : segmentList) {
|
segment.setState(SegmentStateType.FINISH.toString());
|
segment.setUpdateTime(now);
|
if (!segmentService.updateById(segment)) {
|
log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
|
}
|
}
|
|
// segment call back
|
trafficService.callback(segmentList);
|
|
log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);
|
|
}
|
}
|
|
// 料仓信息包
|
if (msgBody instanceof AGV_70_UP) {
|
AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;
|
|
log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
|
}
|
}
|
|
}
|
