package com.zy.acs.manager.core.service;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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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.manager.common.domain.param.HandlerPublishParam;
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import com.zy.acs.manager.common.exception.BusinessException;
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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.core.third.zkd.HttpUtils;
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import com.zy.acs.manager.core.third.zkd.dto.AllocateTask;
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import com.zy.acs.manager.core.third.zkd.dto.AllocateTaskResponse;
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import com.zy.acs.manager.core.third.zkd.dto.Navigation;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.BusStsType;
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import com.zy.acs.manager.manager.enums.SegmentStateType;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.enums.TaskTypeType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.manager.utils.ActionSorter;
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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.Service;
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import org.springframework.transaction.annotation.Propagation;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Objects;
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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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@Service("zkdMainService")
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public class MainZkdService extends BaseMainService {
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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 AllocateService allocateService;
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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 LaneService laneService;
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@Autowired
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private ActionSorter actionSorter;
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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 allocateTask(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 [{}] failed to Update ！！！", 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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List<AllocateTask> allocateTasks = new ArrayList<>();
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AllocateTask allocateTask = null;
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String startCode = null;
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String endCode = null;
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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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for (Task task : taskList) {
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allocateTask = new AllocateTask();
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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.getCacheById(oriLoc.getCode()).getData();
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endCode = codeService.getCacheById(destLoc.getCode()).getData();
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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.getCacheById(oriLoc.getCode()).getData();
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endCode = codeService.getCacheById(destSta.getCode()).getData();
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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.getCacheById(oriSta.getCode()).getData();
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endCode = codeService.getCacheById(destLoc.getCode()).getData();
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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.getCacheById(oriSta.getCode()).getData();
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endCode = codeService.getCacheById(destSta.getCode()).getData();
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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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allocateTask.setTaskId(task.getId() + "");
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allocateTask.setStart(startCode);
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allocateTask.setEnd(endCode);
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allocateTask.setType("1");
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allocateTask.setPriority(task.getPriority());
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allocateTasks.add(allocateTask);
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}
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log.info("allocateTask:{}", JSON.toJSONString(allocateTasks));
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String post = HttpUtils.post("http://10.10.10.239:8002/open/task/send/v1", JSON.toJSONString(allocateTasks));
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if (post == null) {
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return;
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}
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Object data = JSON.parseObject(post).get("data");
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if (data != null) {
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List<AllocateTaskResponse> allocateTaskResponses = JSON.parseArray(data.toString(), AllocateTaskResponse.class);
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if (Cools.isEmpty(allocateTaskResponses)) {
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log.error("allocateTaskResponses is null,{}", post);
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throw new BusinessException("任务下发失败");
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}
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for (AllocateTaskResponse allocateTaskResponse : allocateTaskResponses) {
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Task task = taskService.getById(allocateTaskResponse.getTaskId());
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task.setAgvId(agvService.getAgvId(allocateTaskResponse.getAgvId()));
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task.setBack(allocateTaskResponse.getLev_id());
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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("seqNum: " + task.getSeqNum() + " failed to update");
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}
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}
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}
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} catch (Exception e) {
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log.error("mainService.allocateTaskByZkd", 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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* todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
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*/
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@Transactional(propagation = Propagation.REQUIRES_NEW)
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public boolean buildMajorTask(Long agvId, Navigation navigation) {
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try {
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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(navigation));
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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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Segment segment = segmentService.getOne(new QueryWrapper<Segment>().eq("uuid", navigation.getSegId()));
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if (segment == null) {
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segment = new Segment();
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}
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int segSerial = 1;
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//segment.setTravelId(travel.getId());
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segment.setAgvId(agvId);
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segment.setSerial(segSerial);
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for (Navigation.CodeDTO codeDTO : navigation.getCodeList()) {
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//segSerial++;
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Task task = taskService.getById(Long.parseLong(codeDTO.getTaskId()));
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segment.setUuid(navigation.getSegId());
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segment.setTaskId(task.getId());
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Code cacheByData = codeService.getCacheById(Long.parseLong(codeDTO.getCode()));
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if (cacheByData == null) {
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throw new BusinessException(codeDTO.getCode() + "点位不存在");
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}
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segment.setEndNode(cacheByData.getId());
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if (codeDTO.getPosType() != null) {
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if (task.getTaskType().equals(TaskTypeType.LOC_TO_STA.val())) {
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segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_LOC.toString() : TaskPosDto.PosType.DEST_STA.toString());
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} else if (task.getTaskType().equals(TaskTypeType.STA_TO_LOC.val())) {
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segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_STA.toString() : TaskPosDto.PosType.DEST_LOC.toString());
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} else if (task.getTaskType().equals(TaskTypeType.STA_TO_STA.val())) {
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segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_STA.toString() : TaskPosDto.PosType.DEST_STA.toString());
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} else if (task.getTaskType().equals(TaskTypeType.LOC_TO_LOC.val())) {
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segment.setPosType(codeDTO.getPosType().equals("1") ? TaskPosDto.PosType.ORI_LOC.toString() : TaskPosDto.PosType.DEST_LOC.toString());
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}
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}
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segment.setBackpack(codeDTO.getLev());
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segment.setState(SegmentStateType.INIT.toString());
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segment.setPath((Cools.isEmpty(segment.getPath()) ? "" : segment.getPath()) + cacheByData.getData() + ",");
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task.setTaskSts(TaskStsType.ASSIGN.val());
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task.setStartTime(new Date());
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task.setUpdateTime(new Date());
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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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segment.setState(SegmentStateType.WAITING.toString());
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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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} catch (Exception e) {
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log.error("mainService.buildMajorTask[task]", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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return true;
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}
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}
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