#

luxiaotao1123

2024-12-30 3209b7899f99fbc567c24be9709ba289f33ea73b

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

@@ -15,6 +15,7 @@
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;
@@ -22,7 +23,6 @@
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.common.utils.CommonUtil;
import com.zy.acs.manager.core.domain.AgvBackpackDto;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.TaskPosDto;
@@ -221,7 +221,7 @@
            for (Task task : taskList) {
                Agv agv = allocateService.execute(task);
                if (null == agv) {
                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
//                    log.warn("Task[{}] has an issue， because it failed to checkout agv which is idle...", task.getSeqNum());
                    continue;
                }
                task.setAgvId(agv.getId());
@@ -249,7 +249,7 @@
            // valid -----------------------------------------------
            Agv agv = agvService.getById(agvId);
            if (!agvService.judgeEnable(agv.getId(), true)) {
                throw new CoolException("AGV[" + agv.getUuid() + "]当前不可用...");
                return;
            }
            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...");
@@ -350,13 +350,19 @@
            /**
             * 1.Map<String, List<TaskPosDto>> groups
             *
             * key: 1000 + ORI_LOC
             * key: 1000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 3000 + ORI_LOC
             * key: 3000 + ORIGIN
             * val: [TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType), TaskPosDto(taskId, new Double[]{code.getX(), code.getY()}, posType),...]
             *
             * key: 2000 + ORI_LOC
             * 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),...]
             *
             * ......
@@ -374,6 +380,8 @@
             * 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) -> {
@@ -390,45 +398,32 @@
            Code currCode = codeService.getById(agvDetail.getRecentCode());
            Double[] currPosition = new Double[] {currCode.getX(), currCode.getY()};

            List<TaskPosDto> theFirstOne = list.get(0);
            List<TaskPosDto> theLastOne = list.get(list.size() - 1);
            List<List<TaskPosDto>> pickGroups = new ArrayList<>();
            List<List<TaskPosDto>> dropGroups = new ArrayList<>();

            if (list.size() == 1) {
                TaskPosDto head = theFirstOne.get(0);
                TaskPosDto tail = theFirstOne.get(theFirstOne.size() - 1);

                int distanceByHead = CommonUtil.calcDistance(currPosition, head.getXy());
                int distanceByTail = CommonUtil.calcDistance(currPosition, tail.getXy());

                if (distanceByTail < distanceByHead) {
                    Collections.reverse(theFirstOne);
                }

            } else {
                TaskPosDto headOfFirst = theFirstOne.get(0);
                TaskPosDto tailOfFirst = theFirstOne.get(theFirstOne.size() - 1);

                TaskPosDto headOfLast = theLastOne.get(0);
                TaskPosDto tailOfLast = theLastOne.get(theLastOne.size() - 1);

                int distanceByHeadOfFirst = CommonUtil.calcDistance(currPosition, headOfFirst.getXy());
                int distanceByTailOfFirst = CommonUtil.calcDistance(currPosition, tailOfFirst.getXy());

                int distanceByHeadOfLast = CommonUtil.calcDistance(currPosition, headOfLast.getXy());
                int distanceByTailOfLast = CommonUtil.calcDistance(currPosition, tailOfLast.getXy());

                if (Math.min(distanceByHeadOfLast, distanceByTailOfLast) < Math.min(distanceByHeadOfFirst, distanceByTailOfFirst)) {
                    Collections.reverse(list);

                    if (distanceByTailOfLast < distanceByHeadOfLast) {
                        Collections.reverse(theLastOne);
                    }
            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 {
                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
                        Collections.reverse(theFirstOne);
                    }
                    // 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();
@@ -477,6 +472,7 @@
            // task
            for (Task task : taskList) {
                task.setTaskSts(TaskStsType.ASSIGN.val());
                task.setStartTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    throw new BusinessException(task.getUuid() + "任务更新失败");
@@ -565,7 +561,7 @@
            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("travel failed to save");
@@ -611,6 +607,7 @@
                } else {
                    if (null != jam && i == 0) {
                        jam.setAvoSeg(next.getId());
                        jam.setAvoCode(endCode.getId());
                    }
                }
            }
@@ -645,7 +642,7 @@
     * 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) {
    public synchronized void generateAction(Long agvId, List<Segment> segmentList, List<String> pathList, Date algoStartTime) {
        try {
            if (Cools.isEmpty(agvId, segmentList)) { return; }
            Date now = new Date();
@@ -1014,6 +1011,9 @@
                item.setGroupId(groupId);
                item.setState(SegmentStateType.RUNNING.toString());
                item.setUpdateTime(now);
                if (null != algoStartTime) {
                    item.setAlgoTime((int) (now.getTime() - algoStartTime.getTime()));
                }
                if (!segmentService.updateById(item)) {
                    throw new CoolException("更新Segment失败");
                }
@@ -1045,8 +1045,9 @@
            if (Cools.isEmpty(actionList)) {
                return;
            }
            long actionIssuedSts = ActionStsType.ISSUED.val();
            for (Action action : actionList) {
                action.setActionSts(ActionStsType.ISSUED.val());
                action.setActionSts(actionIssuedSts);
                action.setStartTime(now);
                action.setIoTime(now);
                action.setUpdateTime(now);
@@ -1057,17 +1058,18 @@

            // task
            List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
            long taskAssignSts = TaskStsType.ASSIGN.val();
            long taskProgressSts = TaskStsType.PROGRESS.val();
            for (Long taskId : taskIds) {
                Task task = taskService.getById(taskId);
                if (task.getTaskSts().equals(TaskStsType.ASSIGN.val())) {
                    task.setTaskSts(TaskStsType.PROGRESS.val());
                if (task.getTaskSts().equals(taskAssignSts)) {
                    task.setTaskSts(taskProgressSts);
                    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);
@@ -1253,77 +1255,8 @@
                        .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.setEndTime(now);
                    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
                segmentService.processNext(segmentList);
                // settlement
                this.settleSegmentList(segmentList, serialNo);

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

@@ -1338,4 +1271,86 @@
        }
    }

    @Transactional
    public void settleSegmentList(List<Segment> segmentList, String serialNo) {
        if (Cools.isEmpty(segmentList)) {
            return;
        }
        Date now = new Date();

        // 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, follow by groupId
        if (!Cools.isEmpty(serialNo)) {
            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.setEndTime(now);
                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
        segmentService.processNext(segmentList);
    }

}