#

luxiaotao1123

2024-10-24 030c4ad9573cfc6ecda996a7b59d5e16fbb10a42

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -93,11 +93,15 @@

    @SuppressWarnings("all")
    @Transactional
    public void generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
    public Bus generateBusAndTask(OpenBusSubmitParam busSubmitParam, String memo) {
        String errorMsg = busService.checkoutValid(busSubmitParam);
        if (!Cools.isEmpty(errorMsg)) {
            throw new BusinessException(errorMsg);
        }
        String batch = busSubmitParam.getBatch();
        List<TaskDto> taskDtoList = busSubmitParam.getTaskList();
        if (Cools.isEmpty(taskDtoList)) {
            throw new BusinessException("taskDtoList 不能为空");
            throw new BusinessException("taskList can't be empty!");
        }

        // 优先级排序
@@ -116,7 +120,7 @@
        bus.setMemo(memo);

        if (!busService.save(bus)) {
            throw new BusinessException("任务保存失败");
            throw new BusinessException("Internal Server Error!");
        }

        // 保存任务
@@ -124,7 +128,7 @@
            task.setBusId(bus.getId());
            task.setTaskSts(TaskStsType.INIT.val());
            if (!taskService.save(task)) {
                throw new BusinessException(task.getSeqNum() + "任务保存失败");
                throw new BusinessException("seqNum:" + task.getSeqNum() + " failed to save!");
            }

            // 修改库位状态
@@ -136,44 +140,44 @@
                case LOC_TO_LOC:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                    }
                    break;
                case LOC_TO_STA:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 不是在库状态");
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
                    oriLoc.setUpdateTime(now);
                    if (!locService.updateById(oriLoc)) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " 修改库位状态失败");
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " failed to update");
                    }
                    break;
                case STA_TO_LOC:
                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " 不是空闲状态");
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
                    destLoc.setUpdateTime(now);
                    if (!locService.updateById(destLoc)) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " 修改库位状态失败");
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " failed to update");
                    }
                    break;
                case STA_TO_STA:
@@ -183,7 +187,7 @@
            }

        }

        return bus;
    }

    /**
@@ -203,7 +207,7 @@
                bus.setBusSts(BusStsType.PROGRESS.val());
                bus.setUpdateTime(now);
                if (!busService.updateById(bus)) {
                    log.error("Bus [{}] 更新失败 ！！！", bus.getUuid());
                    log.error("Bus [{}] failed to Update ！！！", bus.getUuid());
                }
                return;
            }
@@ -213,7 +217,7 @@
            for (Task task : taskList) {
                Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
                if (null == agv) {
                    log.warn("{}任务异常，无法检索空闲Agv...", task.getSeqNum());
                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
                    continue;
                }

@@ -223,7 +227,7 @@
                task.setIoTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getSeqNum() + "任务更新失败");
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }

                if (taskAllot.containsKey(agv.getUuid())) {
@@ -247,33 +251,25 @@
     * 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 )
     */
    @Transactional
    public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
    public synchronized void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(taskList)) { return; }
        boolean lockAcquired = false;
        try {
            if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                throw new CoolException("generate [task] action fail, cause can not acquire lock ...");
            }
            Date now = new Date();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);

            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), agvDetail -> agvDetail.getVol() > agv.getChargeLine())) {
                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
            }

            if (!Cools.isEmpty(taskService.selectInSts(agvId, TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "]分配任务失败，已存在执行任务...");
            }

            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...");
                }
            }

            // execute ----------------------------------------------------
            Date now = new Date();
            // sort and sub
            taskList.sort(new Comparator<Task>() {
                @Override
@@ -281,19 +277,22 @@
                    return 0;
                }
            });
            if (taskList.size() > agv.getStage()) {
                taskList = taskList.subList(0, agv.getStage());
            Integer backpack = agvService.getBackpack(agv);
            if (taskList.size() > backpack) {
                taskList = taskList.subList(0, backpack);
            }

            List<AgvBackpackDto> backpackDtoList = new ArrayList<>();

            /**
             * single agvId
             * 同巷道归类
             * same lane for every single agvId
             *
             * key: y + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
             * key: y(val) + TaskPosDto.PosType.ORI_LOC / ORI_STA / DEST_LOC / DEST_STA
             * val: new TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType)
             */
            Map<String, List<TaskPosDto>> groups = new HashMap<>();

            List<AgvBackpackDto> backpackDtoList = new ArrayList<>();
            final String sameGroupXy = configService.getVal( "sameGroupXy", String.class);

            int backpackLev = 0;
            for (Task task : taskList) {
@@ -349,7 +348,7 @@

                }

                if (backpackLev > agv.getStage()) {
                if (backpackLev > backpack) {
                    throw new BusinessException("解析Task失败,AGV背篓已满......");
                }

@@ -357,7 +356,31 @@
            }

            /**
             *  List<TaskPosDto>: task list on the same channel
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORI_LOC
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * ......
             *
             * 2.ArrayList<List<TaskPosDto>> list
             * [
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...],
             *  ......
             * ]
             */

            /**
             * 对所有巷道进行有序排序，先是针对List为一个单位，对他们进行FirstWeight排序，相当于表1的key的数值进行有序排序
             *  List<TaskPosDto>: task list on the same lane
             *  ArrayList<List<TaskPosDto>>: all the task list by one agv
             */
            ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
@@ -366,7 +389,7 @@
                double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
                return (int) (o1CompVal - o2CompVal);
            });

            // 针对Dto，按照SecondWeight进行排序
            for (List<TaskPosDto> taskPosDtoList : list) {
                taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
            }
@@ -603,11 +626,6 @@

            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
@@ -994,6 +1012,7 @@
            }
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setStartTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
@@ -1143,6 +1162,7 @@

                            if (null != action) {
                                action.setActionSts(ActionStsType.FINISH.val());
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
@@ -1175,6 +1195,7 @@
                            );
                            if (null != action) {
                                action.setActionSts(ActionStsType.FINISH.val());
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
@@ -1249,6 +1270,7 @@
                );
                for (Action action : actionList) {
                    action.setActionSts(ActionStsType.FINISH.val());
                    action.setEndTime(now);
                    action.setUpdateTime(now);
                    if (!actionService.updateById(action)) {
                        log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());