1

zhang

18 小时以前 3a49654f51096d4f9f95f4a5e8198e168e38a0c5

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

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.domain.AgvAction;
import com.zy.acs.common.domain.AgvActionItem;
@@ -26,6 +27,7 @@
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.core.utils.HttpHandler;
import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.*;
@@ -40,7 +42,9 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

/**
@@ -182,8 +186,10 @@
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    if (destSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
@@ -193,8 +199,10 @@
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    if (oriSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                            throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                        }
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
@@ -214,8 +222,10 @@
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    if (oriSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                            throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                        }
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
@@ -224,8 +234,10 @@
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                        throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                    if (destSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
@@ -279,7 +291,7 @@
                if (!taskService.updateById(task)) {
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
                report(task,null, TaskReportStsType.START);
                report(task, null, TaskReportStsType.START);
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
@@ -1017,7 +1029,9 @@
                                ActionTypeType.ReadyTakeFromConveyorSta.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                now,    // 工作时间
                                oriSta.getStaTypeIsCheck() == 1 ? 1 : 0,
                                oriSta.getStaNo()
                        ));
                        // 暂存点放货
                        assert backpackType != null;
@@ -1060,7 +1074,7 @@
                                    ActionTypeType.TurnCorner.val(),    // 动作类型
                                    actionPrepareSts,    // 动作进度
                                    agvId,    // AGV
                                    now    // 工作时间
                                    now   // 工作时间
                            ));
                            lastDirection = destStaWorkDirection;
                        }
@@ -1079,7 +1093,9 @@
                                ActionTypeType.ReadyTakeFromAgvSite.val(),    // 动作类型
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间
                                now,    // 工作时间
                                destSta.getStaTypeIsCheck() == 1 ? 2 : 0,
                                destSta.getStaNo()
                        ));
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
@@ -1264,7 +1280,7 @@
    public void publishAction(String actionGroupId) {
        try {
            Date now = new Date();

            boolean flag = true;
            // action
            List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
                    .eq(Action::getGroupId, actionGroupId).eq(Action::getActionSts, ActionStsType.PREPARE.val())
@@ -1395,9 +1411,14 @@
                    default:
                        break;
                }

                if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
                    flag = askSta(action.getAskType(), action.getAskSta());
                }
            }

            if (!flag) {
                log.error("任务组 [{}] 动作指令下发失败 ,向输送线询问报错！！！", actionGroupId);
                throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
            }
            BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
            if (result.success()) {
                log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
@@ -1666,4 +1687,36 @@
            log.info("Task [{}] 状态记录插入数据库 ==========>> ", task.getSeqNum());
        }
    }

    private boolean askSta(Integer askType, String askSta) {
        log.info("来询问输送线了，{}，{}", askType, askSta);
        String wmsUrl = configService.getVal("WMS_URL", String.class);
        String wmsPath = configService.getVal("WMS_STA", String.class);
        if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) {
            return true;
        }
        Integer time = configService.getVal("TIMEOUT", Integer.class, 5);
        //Integer times = configService.getVal("REPORT_TIMES", Integer.class, 2);
        Map<String, Object> data = new HashMap<>();
        data.put("askType", askType);
        data.put("askSta", askSta);
        String response = null;
        try {
            response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath(wmsPath)
                    .setTimeout(time, TimeUnit.SECONDS)
                    .setJson(JSON.toJSONString(data))
                    .build()
                    .doPost();
            log.info("返回参数：{}", response);
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(200)) {
                return true;
            }
        } catch (IOException e) {
            log.info("报错了，{}", e);
        }
        return false;
    }
}