1

zhang

2 天以前 3fa7cdec6ce44f07a0dc7e1910511ead606990f3

 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;

/**
@@ -133,6 +137,7 @@
            throw new BusinessException("Internal Server Error!");
        }
        Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
        Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);


        // 保存任务
@@ -182,8 +187,15 @@
                    }

                    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");
                        }
                    } else {
                        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
                        if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " task more");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
@@ -193,8 +205,10 @@
                    break;
                case STA_TO_LOC:
                    oriSta = staService.getById(task.getOriSta());
                    if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                    if (oriSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                            throw new BusinessException("oriSta：" + task.getOriSta$() + " is not in STOCK status");
                        }
                    }
                    oriSta.setStaSts(StaStsType.READY_TAKE.val());
                    oriSta.setUpdateTime(now);
@@ -214,8 +228,10 @@
                    break;
                case STA_TO_STA:
                    oriSta = staService.getById(task.getOriSta());
                    if (locStaStatusCheck && !oriSta.getStaSts().equals(StaStsType.STOCK.val())) {
                        throw new BusinessException("oriSta：" + task.getOriSta$() + " 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 +240,15 @@
                    }

                    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");
                        }
                    } else {
                        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
                        if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " task more");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
@@ -279,7 +302,7 @@
                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 +1040,9 @@
                                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 +1085,7 @@
                                    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;
                        }
@@ -1080,6 +1105,7 @@
                                actionPrepareSts,    // 动作进度
                                agvId,    // AGV
                                now    // 工作时间

                        ));
                        // 计算货叉工作方向
                        staWorkDirection = mapService.calculateAgvWorkDirectionByStation(destStaWorkDirection, lastDirection);
@@ -1096,7 +1122,9 @@
                                ActionTypeType.ReadyReleaseToConveyorSta.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()
                        ));
                        break;
                    case TO_CHARGE:
@@ -1264,7 +1292,7 @@
    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())
@@ -1346,6 +1374,9 @@
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
                            flag = askSta(action.getAskType(), action.getAskSta());
                        }
                        break;
                    case ReadyTakeFromAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyTakeFromAgvSite.class)
@@ -1367,6 +1398,9 @@
                                .setQrCode(action.getCode())
                                .bodySync(body -> body.setHeight((short) Double.parseDouble(action.getParams())))
                        );
                        if (!Cools.isEmpty(action.getAskType()) && (action.getAskType() == 1 || action.getAskType() == 2)) {
                            flag = askSta(action.getAskType(), action.getAskSta());
                        }
                        break;
                    case ReadyReleaseToAgvSite:
                        agvAction.add(new AgvActionItem<>(ReadyReleaseToAgvSite.class)
@@ -1397,7 +1431,10 @@
                }

            }

            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());
@@ -1465,11 +1502,11 @@
//                    }
//                }

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

            // 出库取货
@@ -1503,31 +1540,31 @@
//                        }
//                    }
//                }
                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);
//                    report(task, agv_11_up.getQrCode(), TaskReportStsType.OTBIN);
//                }

            }
            //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);
                }
            }
//            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);
                }
            }
//            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);
//                }
//            }

            // 路径完成 || 充电完成
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.ENTIRE_PATH_COMPLETE)
@@ -1567,6 +1604,8 @@
        // task
        for (Segment segment : segmentList) {
            boolean taskComplete = false;
            boolean otbin = false;


            Task task = taskService.getById(segment.getTaskId());
            assert null != task;
@@ -1577,6 +1616,7 @@
            switch (Objects.requireNonNull(posType)) {
                case ORI_STA:
                case ORI_LOC:
                    otbin = true;
                    break;
                case DEST_STA:
                case DEST_LOC:
@@ -1597,14 +1637,24 @@
                    break;
            }

            if (otbin) {
                locService.taskCallBackOtbin(task);
                report(task, null, TaskReportStsType.OTBIN);
            }


            if (taskComplete) {
                locService.taskCallBack(task);
                locService.taskCallBackEnd(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());
                }
                report(task, null, TaskReportStsType.END);
                if (task.getSeqNum() != null && task.getSeqNum().contains("SSX-CK")) {
                    report(task, "1001", TaskReportStsType.COMPLETED);
                }
            }
        }
@@ -1648,22 +1698,58 @@
        }
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
        if (!Cools.isEmpty(list)) {
            log.info("TaskReport [{}] 已重复，不再插入 ==========>> ", JSON.toJSONString(task));
            log.info("TaskReport [{},{}] 已重复，不再插入 ==========>> ", taskReportStsType, JSON.toJSONString(task));
            return;
        }
        TaskReport taskReport = new TaskReport();
        taskReport.setAgvId(task.getAgvId());
        taskReport.setAgvNo(task.getAgvId$());
        taskReport.setBusNo(task.getBusId$());
        taskReport.setCreateTime(new Date());
        taskReport.setCompleted(0);
        taskReport.setQrCode(qrCode);
        taskReport.setReportTimes(0);
        taskReport.setTaskSts(taskReportStsType.status);
        taskReport.setEventType(taskReportStsType.name);
        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("WCS_URL", String.class);
        String wmsPath = configService.getVal("WMS_STA", String.class);
        if (Cools.isEmpty(wmsPath) || Cools.isEmpty(wmsUrl)) {
            return false;
        }
        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;
    }
}