#

luxiaotao1123

2024-12-02 233ff9e9e82c67ac33695b479fd31df6ffb77b22

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

@@ -3,9 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
import com.zy.acs.common.domain.AgvProtocol;
@@ -14,11 +11,20 @@
import com.zy.acs.common.domain.protocol.AGV_70_UP;
import com.zy.acs.common.domain.protocol.IMessageBody;
import com.zy.acs.common.domain.protocol.action.*;
import com.zy.acs.common.enums.*;
import com.zy.acs.common.enums.AgvBackpackType;
import com.zy.acs.common.enums.AgvCompleteType;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.common.enums.AgvSpeedType;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.domain.TaskDto;
import com.zy.acs.manager.common.domain.param.HandlerPublishParam;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
@@ -30,12 +36,11 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.ReentrantLock;
import java.util.stream.Collectors;

/**
@@ -44,9 +49,6 @@
@Slf4j
@Component("mainService")
public class MainService {

    private static final int LOCK_TIMEOUT = 5;
    private final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);

    @Autowired
    private BusService busService;
@@ -66,6 +68,8 @@
    private ConfigService configService;
    @Autowired
    private ValidService validService;
    @Autowired
    private AllocateService allocateService;
    @Autowired
    private CodeService codeService;
    @Autowired
@@ -89,7 +93,8 @@
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private MissionAssignService missionAssignService;
    private LaneService laneService;


    @SuppressWarnings("all")
    @Transactional
@@ -108,7 +113,7 @@
        taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());

        // 校验
        List<Task> taskList = validService.validBusDto(taskDtoList);
        List<Task> taskList = validService.validTaskDtoList(taskDtoList);

        // 保存总线
        Date now = new Date();
@@ -194,7 +199,7 @@
     * 任务分配给车辆 ( 车辆此时是空闲且静止的 )
     */
    @Transactional
    public synchronized void infuseAgvForTask(Bus bus) {
    public synchronized void allocateTask(Bus bus) {
        try {
            Date now = new Date();
            List<Task> taskList = taskService.list(new LambdaQueryWrapper<Task>()
@@ -207,40 +212,26 @@
                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;
            }
            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());

            Map<String, List<Long>> taskAllot = new HashMap<>();
            List<Long> taskIds = taskList.stream().map(Task::getId).distinct().collect(Collectors.toList());
            for (Task task : taskList) {
                Agv agv = missionAssignService.execute(task, taskAllot, taskIds);
                Agv agv = allocateService.execute(task);
                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;
                }


                task.setAgvId(agv.getId());
                task.setTaskSts(TaskStsType.WAITING.val());
                task.setIoTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getSeqNum() + "任务更新失败");
                }

                if (taskAllot.containsKey(agv.getUuid())) {
                    taskAllot.get(agv.getUuid()).add(task.getId());
                } else {
                    taskAllot.put(agv.getUuid(), Utils.singletonList(task.getId()));
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
            }

//            bus.setUpdateTime(now);
//            if (!busService.updateById(bus)) {
//                throw new BusinessException(bus.getSeqNum() + "总线更新失败");
//            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -249,40 +240,33 @@

    /**
     * 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 )
     * todo: {@link com.zy.acs.manager.core.HandlerController#controlAgv(String, HandlerPublishParam)}
     */
    @Transactional
    public synchronized void mergeMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(taskList)) { return; }
        boolean lockAcquired = false;
    @Transactional(propagation = Propagation.REQUIRES_NEW)
    public void buildMajorTask(Long agvId, List<Task> taskList) {
        if (Cools.isEmpty(agvId, taskList)) { return; }
        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 (!agvService.judgeEnable(agv.getId(), true)) {
                return;
//                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...");
                }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
                    || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running...");
            }

            // execute ----------------------------------------------------
            Date now = new Date();
            // sort and sub
            taskList.sort(new Comparator<Task>() {
                @Override
                public int compare(Task o1, Task o2) {
                    return 0;
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
@@ -290,15 +274,18 @@
                taskList = taskList.subList(0, backpack);
            }

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            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) {
@@ -362,8 +349,40 @@
            }

            /**
             *  List<TaskPosDto>: task list on the same channel
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 1000 + DESTINATION
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + DESTINATION
             * 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
             *
             *  tip: ORI 和 DEST 永远不会存在同一个 List
             */
            ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
            list.sort((o1, o2) -> {
@@ -371,10 +390,41 @@
                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));
            }

            // re-order by agv current position
            Code currCode = codeService.getById(agvDetail.getRecentCode());
            Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};

            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();

            for (List<TaskPosDto> group : list) {
                // Assume 一个任务组中所有TaskPosDto的PosType.brief相同
                TaskPosDto.PosType posType = group.get(0).getPosType();
                if (posType == TaskPosDto.PosType.ORI_LOC || posType == TaskPosDto.PosType.ORI_STA) {
                    pickGroups.add(group);
                } else if (posType == TaskPosDto.PosType.DEST_LOC || posType == TaskPosDto.PosType.DEST_STA) {
                    dropGroups.add(group);
                } else {
                    // import tip: the list must only contain ORIGIN and DESTINATION
                    log.error("the list must only contain ORIGIN and DESTINATION");
                }
            }

            currPosition = allocateService.pac(currPosition, pickGroups);
            currPosition = allocateService.pac(currPosition, dropGroups);

            List<List<TaskPosDto>> reorderedList = new ArrayList<>();
            reorderedList.addAll(pickGroups);
            reorderedList.addAll(dropGroups);

            list.clear();
            list.addAll(reorderedList);


            // generate travel
            Travel travel = new Travel();
@@ -431,33 +481,29 @@

        } catch (Exception e) {

            log.error("mainService.mergeMajorTask[task]", e);
            log.error("mainService.buildMajorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        } finally {

            if (lockAcquired) {
                this.lock.unlock();
            }
        }
    }


    /**
     * 充电 回待机位任务
     */
    @Transactional
    public synchronized boolean buildMinorTask(Agv agv, AgvDetail agvDetail, TaskTypeType taskType, String destination) {
    @Transactional(propagation = Propagation.REQUIRES_NEW) // although there is a Transactional here that the lock is isolated, but we can't join the caller's Transactional
    public boolean buildMinorTask(Agv agv, TaskTypeType taskType, String destination, Jam jam) {
        if (Cools.isEmpty(agv, taskType)) { return false; }
        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 ...");
            }

            if (null == agvDetail) {
                agvDetail = agvDetailService.selectByAgvId(agv.getId());
            }
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (!agvService.judgeEnable(agv.getId())) {
                return false;
            }
            if (!Cools.isEmpty(taskService.selectInSts(agv.getId(), TaskStsType.ASSIGN, TaskStsType.PROGRESS))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the task in running...");
            }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()))
                    || !Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                throw new CoolException("AGV[" + agv.getUuid() + "] failed to assign，because already has the segment in running...");
            }

            Date now = new Date();
@@ -465,15 +511,13 @@
            switch (taskType) {
                case TO_CHARGE:
                case TO_STANDBY:
                    List<FuncSta> funcStaList = funcStaService.list(new LambdaQueryWrapper<FuncSta>()
                                    .eq(FuncSta::getType, FuncStaType.query(taskType).toString())
                                    .eq(FuncSta::getAgvId, agv.getId())
                                    .eq(FuncSta::getState, FuncStaStateType.IDLE.toString())
                                    .eq(FuncSta::getStatus, StatusType.ENABLE.val)
                    );
                    if (!Cools.isEmpty(funcStaList)) {
                        FuncSta funcSta = funcStaList.get(0);
                    List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.query(taskType), agv.getId());
                    if (!Cools.isEmpty(idleFunStaList)) {
                        FuncSta funcSta = funcStaService.checkoutClosestFunSta(agvDetail.getRecentCode(), idleFunStaList);
                        endCode = codeService.getById(funcSta.getCode());
                    }
                    if (null == endCode) {
                        log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agv.getUuid(), taskType.toString());
                    }
                    break;
                case MOVE:
@@ -484,8 +528,10 @@
            }

            if (null == endCode) {
                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());
                return false;
            }
            if (!allocateService.validCapacityOfLane(agv, endCode)) {
                throw new BusinessException("the lane with code:" + endCode.getData() + " is full of AGV[" + agv.getUuid() + "]!!!");
            }

            Task task = new Task();
@@ -495,13 +541,18 @@
            task.setSeqNum(Utils.generateSeqNum(Cools.isEmpty(lastTasks)?null:lastTasks.get(0).getSeqNum()));
            task.setOriCode(agvDetail.getCode());
            task.setDestCode(endCode.getId());
            // lane
            Lane destLane = laneService.search(endCode.getData());
            if (null != destLane) {
                task.setDestLaneHash(destLane.getHashCode());
            }
            task.setPriority(taskType.equals(TaskTypeType.TO_CHARGE)?2:1);
            task.setTaskSts(TaskStsType.ASSIGN.val());
            task.setTaskType(taskType.val());
            task.setIoTime(now);
            task.setStartTime(now);
            if (!taskService.save(task)) {
                throw new BusinessException(task.getSeqNum() + "任务保存失败");
                throw new BusinessException(task.getSeqNum() + " failed to save");
            }

            // generate travel
@@ -510,10 +561,10 @@
            travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            travel.setAgvId(agv.getId());
//            travel.setTaskContent(JSON.toJSONString(list));
            travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId())));
            travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId())));
            travel.setState(TravelStateType.RUNNING.toString());
            if (!travelService.save(travel)) {
                throw new BusinessException("任务组保存失败");
                throw new BusinessException("travel failed to save");
            }

            // generate segment
@@ -552,7 +603,12 @@
                    next.setState(SegmentStateType.WAITING.toString());
                }
                if (!segmentService.save(next)) {
                    throw new BusinessException("任务组保存失败");
                    throw new BusinessException("segment failed to save");
                } else {
                    if (null != jam && i == 0) {
                        jam.setAvoSeg(next.getId());
                        jam.setAvoCode(endCode.getId());
                    }
                }
            }

@@ -564,7 +620,7 @@
                    destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
                    destFuncSta.setUpdateTime(now);
                    if (!funcStaService.updateById(destFuncSta)) {
                        log.error("FuncSta [{}] 更新状态失败 ！！！", destFuncSta.getName());
                        log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                    }
                    break;
                case MOVE:
@@ -579,11 +635,6 @@
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            return false;
        } finally {

            if (lockAcquired) {
                this.lock.unlock();
            }
        }
    }

@@ -608,22 +659,16 @@

            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());
            Double lastDirection = agvDetail.getAgvAngle();
            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
@@ -855,7 +900,7 @@
                        break;
                    case TO_CHARGE:
                        // 检验方向
                        FuncSta chargeFuncSta = funcStaService.query(agvId, lastCode.getId(), FuncStaType.CHARGE.toString());
                        FuncSta chargeFuncSta = funcStaService.query(lastCode.getId(), FuncStaType.CHARGE.toString());
                        Double chargeDirection = Double.parseDouble(chargeFuncSta.getAngle());
                        if (!lastDirection.equals(chargeDirection)) {
                            actionList.add(new Action(
@@ -1000,6 +1045,7 @@
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    throw new BusinessException(action.getPriority() + " - " + action.getName() + "动作更新失败");
@@ -1274,7 +1320,7 @@
                }

                // segment call back
                trafficService.callback(segmentList);
                segmentService.processNext(segmentList);

                log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);