1

zhang

昨天 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;

/**
@@ -132,6 +136,8 @@
        if (!busService.save(bus)) {
            throw new BusinessException("Internal Server Error!");
        }
        Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);


        // 保存任务
        for (Task task : taskList) {
@@ -149,7 +155,7 @@
            switch (TaskTypeType.get(task.getTaskTypeEl())) {
                case LOC_TO_LOC:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
@@ -159,7 +165,7 @@
                    }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
@@ -170,7 +176,7 @@
                    break;
                case LOC_TO_STA:
                    oriLoc = locService.getById(task.getOriLoc());
                    if (!oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                    if (locStaStatusCheck && !oriLoc.getLocSts().equals(LocStsType.STOCK.val())) {
                        throw new BusinessException("oriLoc：" + task.getOriLoc$() + " is not in STOCK status");
                    }
                    oriLoc.setLocSts(LocStsType.PAKOUT.val());
@@ -180,8 +186,10 @@
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!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);
@@ -191,8 +199,10 @@
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (!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);
@@ -201,7 +211,7 @@
                    }

                    destLoc = locService.getById(task.getDestLoc());
                    if (!destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                    if (locStaStatusCheck && !destLoc.getLocSts().equals(LocStsType.IDLE.val())) {
                        throw new BusinessException("destLoc：" + task.getDestLoc$() + " is not in IDLE status");
                    }
                    destLoc.setLocSts(LocStsType.PAKIN.val());
@@ -212,8 +222,10 @@
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (!oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " 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);
@@ -222,8 +234,10 @@
                    }

                    destSta = staService.getById(task.getDestSta());
                    if (!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);
@@ -277,6 +291,7 @@
                if (!taskService.updateById(task)) {
                    throw new BusinessException("seqNum: " + task.getSeqNum() + " failed to update");
                }
                report(task, null, TaskReportStsType.START);
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
@@ -1014,7 +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;
@@ -1057,7 +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;
                        }
@@ -1076,7 +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);
@@ -1164,7 +1183,7 @@
                                runToWaitHeight = "800";
                            }
                            Double runToWaitHeightValue = configService.getVal("RunToWaitHeightValue", Double.class);
                            if (Cools.isEmpty(runToWaitHeight) || runToWaitHeightValue == 0) {
                            if (runToWaitHeightValue == 0) {
                                runToWaitHeightValue = 1D;
                            }
                            // 修复空指针异常：检查lastCode是否为null
@@ -1256,11 +1275,12 @@
        }
    }


    @Transactional
    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())
@@ -1391,9 +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());
@@ -1432,32 +1457,39 @@
            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()))));
                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());
                } else {
                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                    for (Long taskId : taskIds) {
                        Task task = taskService.getById(taskId);
                        if (task.getDestLoc().equals(loc.getId())) {
//                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());
//                } else {
//                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                    for (Long taskId : taskIds) {
//                        Task task = taskService.getById(taskId);
//                        if (task.getDestLoc().equals(loc.getId())) {
//
//                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
//                                    .eq(Action::getTaskId, task.getId())
//                                    .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
//                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
//                            );
//
//                            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());
//                                }
//                            }
//                            //插入一条
//                            report(task, TaskReportStsType.END);
//                        }
//                    }
//                }

                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
                                    .eq(Action::getTaskId, task.getId())
                                    .eq(Action::getActionType, ActionTypeType.ReadyReleaseToShelvesLoc.val())
                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
                            );

                            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());
                                }
                            }

                        }
                    }
                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                for (Long taskId : taskIds) {
                    Task task = taskService.getById(taskId);
                    report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
                }
            }

@@ -1465,31 +1497,56 @@
            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()))));
                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());
                } else {
//                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());
//                } else {
//
//                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
//                    for (Long taskId : taskIds) {
//                        Task task = taskService.getById(taskId);
//                        if (task.getOriLoc().equals(loc.getId())) {
//
//                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
//                                    .eq(Action::getTaskId, task.getId())
//                                    .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
//                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
//                            );
//                            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());
//                                }
//                            }
//                            report(task, TaskReportStsType.OTBIN);
//                        }
//                    }
//                }
                List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                for (Long taskId : taskIds) {
                    Task task = taskService.getById(taskId);
                    report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
                }

                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                    for (Long taskId : taskIds) {
                        Task task = taskService.getById(taskId);
                        if (task.getOriLoc().equals(loc.getId())) {

                            Action action = actionService.getOne(new LambdaQueryWrapper<Action>()
                                    .eq(Action::getTaskId, task.getId())
                                    .eq(Action::getActionType, ActionTypeType.ReadyTakeFromShelvesLoc.val())
                                    .eq(Action::getActionSts, ActionStsType.ISSUED.val())
                            );
                            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());
                                }
                            }
                        }
                    }
            }
            //从输送线取货完成
            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) {
                    Task task = taskService.getById(taskId);
                    report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
                }
            }
            //往输送线放货完成
            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) {
                    Task task = taskService.getById(taskId);
                    report(task, agv_11_up.getQrCode(), TaskReportStsType.END);
                }
            }

@@ -1519,6 +1576,7 @@
            log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
        }
    }


    @Transactional
    public void settleSegmentList(List<Segment> segmentList, String serialNo) {
@@ -1568,25 +1626,7 @@
                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());
                    // TODO 插入一条上报记录
                    TaskReport taskReport = new TaskReport();
                    taskReport.setAgvId(task.getAgvId());
                    taskReport.setBusNo(task.getBusId$());
                    taskReport.setCreateTime(new Date());
                    taskReport.setDestLoc(task.getDestLoc());
                    taskReport.setDestSta(task.getDestSta());
                    taskReport.setSeqNum(task.getSeqNum());
                    taskReport.setTaskSts(task.getTaskSts());
                    taskReport.setOriLoc(task.getOriLoc());
                    taskReport.setOriSta(task.getOriSta());
                    taskReport.setZpallet(task.getZpallet());
                    if (!taskReportService.save(taskReport)) {
                        log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport));
                    }
                }

            }
        }

@@ -1619,4 +1659,64 @@
        segmentService.processNext(segmentList);
    }

    /**
     * 上报给上游系统，就是插入一条数据到上报表
     */
    private void report(Task task, String qrCode, TaskReportStsType taskReportStsType) {
        // TODO 插入一条上报记录
        if (task.getBusId() == null) {
            return;
        }
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
        if (!Cools.isEmpty(list)) {
            log.info("TaskReport [{}] 已重复，不再插入 ==========>> ", JSON.toJSONString(task));
            return;
        }
        TaskReport taskReport = new TaskReport();
        taskReport.setAgvId(task.getAgvId());
        taskReport.setBusNo(task.getBusId$());
        taskReport.setCreateTime(new Date());
        taskReport.setQrCode(qrCode);
        taskReport.setReportTimes(0);
        taskReport.setTaskSts(taskReportStsType.status);
        taskReport.setSeqNum(task.getSeqNum());
        taskReport.setZpallet(task.getZpallet());
        if (!taskReportService.save(taskReport)) {
            log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport));
        } else {
            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;
    }
}