11

skyouc

6 天以前 12958f438a14b79b0d9d10aa61e145a466d2041d

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

@@ -34,6 +34,7 @@
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.manager.service.impl.LocStsServiceImpl;
import com.zy.acs.manager.manager.service.impl.WebsocketServiceImpl;
import com.zy.acs.manager.manager.utils.ActionSorter;
import com.zy.acs.manager.system.service.ConfigService;
@@ -764,11 +765,18 @@

            boolean first = true;
            for (Segment segment : segmentList) {

                // 分段所属的Task
                Task task = taskService.getById(segment.getTaskId());
                TaskPosDto.PosType posType = Objects.requireNonNull(TaskPosDto.queryPosType(segment.getPosType()));
                boolean isStation = posType.equals(TaskPosDto.PosType.ORI_STA) || posType.equals(TaskPosDto.PosType.DEST_STA);
                boolean isLoc = posType.equals(TaskPosDto.PosType.ORI_LOC) || posType.equals(TaskPosDto.PosType.DEST_LOC);
                // 目标是否为站点
                boolean isStation = posType == TaskPosDto.PosType.ORI_STA || posType == TaskPosDto.PosType.DEST_STA;
                // 目标是否为库位
                boolean isLoc = posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.DEST_LOC;
                // 站点地码
                List<String> turnCodes = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054");
                // 库位地码
                List<String> locTurnCodes = Arrays.asList("00000080", "00000081", "00000082", "00000083", "00000084");
                // 节点条码
                Code code = codeService.getCacheById(segment.getEndNode());

@@ -791,8 +799,7 @@
                        // 第一步：如果下一个方向正好是作业方向的相反方向，则重置下一个方向为作业方向，标记 reverse = true
                        boolean reverse = false;
                        if (nextDirection.equals((workDirection + 180) % 360)) {
                            List<String> list = Arrays.asList("00000050", "00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
                            if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
                            if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(lastCode.getData()))) {
                                reverse = false;
                                lastDirection = nextDirection;
                            } else {
@@ -844,9 +851,8 @@
                                                nextDirection,
                                                180);
                                    } else {
                                        List<String> list = Arrays.asList("00000051", "00000052", "00000053", "00000054");
                                        Double turnDirection = nextDirection;
                                        if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
                                        if (turnCodes.contains(nextCode.getData()) && lastCode.getData().equals("00000050")) {
                                            turnDirection = 180.0;
                                        }
                                        // turn
@@ -875,6 +881,7 @@
                                    lastDirection = nextDirection;
                                }
                            } else {
                                // if (isStation && lastCode.getData().equals("00000050")) {
                                if ((isStation && lastCode.getData().equals("00000050")) || (isLoc && lastCode.getData().equals("00000080"))) {
                                    // turn
                                    reverse = false;
@@ -893,6 +900,8 @@
                                            agvId,    // AGV
                                            now    // 工作时间
                                    ));

                                    reverse = false;
                                    log.info("3TurnCorner posType={}, code={}, corner={}, nextDirection={}, finalAngle={}",
                                            posType,
                                            lastCode.getData(),
@@ -962,8 +971,8 @@
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        Double turnDirection = workDirection;
                        List<String> list = Arrays.asList("00000050","00000051", "00000052", "00000053", "00000054", "00000080", "00000081", "00000082", "00000083", "00000084");
                        if ((isStation && list.contains("00000050")) || (isLoc && list.contains("00000080"))) {
                        // if (isStation && turnCodes.contains(lastCode.getData())) {
                        if ((isStation && turnCodes.contains(lastCode.getData())) || (isLoc && locTurnCodes.contains(lastCode.getData()))) {
                            turnDirection = workDirection + 180.0;
                        }
                        if (lastCode.getCornerBool()) {
@@ -1394,19 +1403,20 @@
        }
    }


    /**
     * 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 generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
    public synchronized void generateActionV2(Long agvId, List<Segment> segmentList, List<String> pathList,
            Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) {
                return;
            }
            Date now = new Date();
            long actionPrepareSts = ActionStsType.PREPARE.val();
//            JSONObject storeDirection = configService.getVal("storeDirection", JSONObject.class);
            // JSONObject storeDirection = configService.getVal("storeDirection",
            // JSONObject.class);
            int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
            String agvNo = agvService.getAgvNo(agvId);
//            if (!agvService.judgeEnable(agvId)) {
@@ -1519,7 +1529,6 @@
                            }
                        }


                        // 第一个动作一定是 turn
                        if (actionList.isEmpty()) {
                            // turn
@@ -1572,7 +1581,8 @@

                // 初始方向值补丁
                if (first) {
                    if (Cools.isEmpty(actionList) || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                    if (Cools.isEmpty(actionList)
                            || !actionList.get(0).getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        // turn
                        actionList.add(new Action(
                                null,    // 编号
@@ -1796,7 +1806,8 @@

                        ));
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection,
                                lastDirection);
                        actionList.add(new Action(
                                null,    // 编号
                                task.getBusId(),    // 总线
@@ -1812,8 +1823,7 @@
                                agvId,    // AGV
                                now,    // 工作时间
                                destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
                                destSta.getStaNo()
                        ));
                                destSta.getStaNo()));
                        break;
                    case TO_CHARGE:
                        // 检验方向
@@ -2161,9 +2171,11 @@
            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()))));
                // 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());
                // 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) {
@@ -2181,7 +2193,8 @@
//                                action.setEndTime(now);
//                                action.setUpdateTime(now);
//                                if (!actionService.updateById(action)) {
//                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " +
                // action.getName());
//                                }
//                            }
//                            //插入一条
@@ -2201,9 +2214,11 @@
            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()))));
                // 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());
                // 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);
@@ -2221,7 +2236,8 @@
//                                action.setEndTime(now);
//                                action.setUpdateTime(now);
//                                if (!actionService.updateById(action)) {
//                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                // log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " +
                // action.getName());
//                                }
//                            }
//                            report(task, TaskReportStsType.OTBIN);
@@ -2236,7 +2252,9 @@

            }
            //从输送线取货完成
//            if (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE)) {
            // if
            // (agv_11_up.getCompleteType().equals(AgvCompleteType.TAKE_FROM_STA_COMPLETE))
            // {
//                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
@@ -2245,7 +2263,9 @@
//                }
//            }
            //往输送线放货完成
//            if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE)) {
            // if
            // (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_STA_COMPLETE))
            // {
//                WebsocketServiceImpl.taskShelfBarcode = agv_11_up.getLocCode();
//                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                for (Long taskId : taskIds) {
@@ -2262,8 +2282,7 @@
                List<Segment> segmentList = segmentService.list(new LambdaQueryWrapper<Segment>()
                                .eq(Segment::getGroupId, serialNo)
//                        .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                                .orderByAsc(Segment::getSerial)
                );
                        .orderByAsc(Segment::getSerial));

                // settlement
                this.settleSegmentList(segmentList, serialNo);
@@ -2281,7 +2300,6 @@
        }
    }


    @Transactional
    public void settleSegmentList(List<Segment> segmentList, String serialNo) {
        if (Cools.isEmpty(segmentList)) {
@@ -2293,7 +2311,6 @@
        for (Segment segment : segmentList) {
            boolean taskComplete = false;
            boolean otbin = false;


            Task task = taskService.getById(segment.getTaskId());
            assert null != task;
@@ -2330,7 +2347,6 @@
                report(task, null, TaskReportStsType.OTBIN);
            }


            if (taskComplete) {
                locService.taskCallBackEnd(task);

@@ -2351,8 +2367,7 @@
        if (!Cools.isEmpty(serialNo)) {
            List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                    .eq(Action::getGroupId, serialNo)
                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
            );
                    .eq(Action::getActionSts, ActionStsType.ISSUED.val()));
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.FINISH.val());
                action.setEndTime(now);
@@ -2384,7 +2399,9 @@
        if (task.getBusId() == null) {
            return;
        }
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>()
                .eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$())
                .eq(TaskReport::getTaskSts, taskReportStsType.status));
        if (!Cools.isEmpty(list)) {
            log.info("TaskReport [{},{}] 已重复，不再插入 ==========>> ", taskReportStsType, JSON.toJSONString(task));
            return;