#

luxiaotao1123

2024-11-04 6f5c384b7f838f35e3da4db129a57c76cd54d508

 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;
@@ -14,10 +11,18 @@
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.RedisSupport;
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.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.TaskPosDto;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -45,6 +50,7 @@
@Component("mainService")
public class MainService {

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

@@ -109,7 +115,7 @@
        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();
@@ -290,7 +296,7 @@
            taskList.sort(new Comparator<Task>() {
                @Override
                public int compare(Task o1, Task o2) {
                    return o1.getPriority() - o2.getPriority();
                    return o2.getPriority() - o1.getPriority();
                }
            });
            Integer backpack = agvService.getBackpack(agv);
@@ -298,6 +304,7 @@
                taskList = taskList.subList(0, backpack);
            }

            AgvDetail agvDetail = agvDetailService.selectByAgvId(agvId);
            List<AgvBackpackDto> backpackDtoList = new ArrayList<>();

            /**
@@ -410,6 +417,50 @@
                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<TaskPosDto> theFirstOne = list.get(0);
            List<TaskPosDto> theLastOne = list.get(list.size() - 1);

            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);
                    }
                } else {
                    if (distanceByTailOfFirst < distanceByHeadOfFirst) {
                        Collections.reverse(theFirstOne);
                    }
                }
            }

            // generate travel
            Travel travel = new Travel();
            travel.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
@@ -504,6 +555,9 @@
                        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:
                    endCode = codeService.selectByData(destination);
@@ -513,7 +567,6 @@
            }

            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;
            }

@@ -530,7 +583,7 @@
            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
@@ -542,7 +595,7 @@
            travel.setTaskIds(JSON.toJSONString(Collections.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
@@ -581,7 +634,7 @@
                    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");
                }
            }

@@ -593,7 +646,7 @@
                    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:
@@ -602,6 +655,10 @@
                    break;
            }

//            if (taskType.equals(TaskTypeType.TO_STANDBY)) {
//                redis.setObject(RedisConstant.AGV_TO_STANDBY_FLAG, agv.getUuid(), false);
//            }

            return true;
        } catch (Exception e) {
            log.error("mainService.buildMinorTask[task]", e);